HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY

OFFICE FOR INTERNATIONAL STUDY PROGRAMS

FALCUTY OF ELECTRICAL AND ELECTRONICS ENGINEERING
2020 – 2021
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CAPSTONE PROJECT 2
SPIDER ROBOT

Instructor: Ph.D. Trần Hoàng Linh

Students: Lê Hoàng Tuấn Anh - 1751005

Văn Trí Hào - 1751025

Ho Chi Minh City, 1/2021

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ABSTRACT

Modern technology equipment is now becoming a considerable

replacement for human resources as they are more flexible and are
able to work in hazardous environments. In this report, we propose a
simple spider robot to walk around by using STM32F407 model kit
and RC Servo motors.

Fig.1: STM32F407 model kit

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 TABLE OF CONTENTS

1. INTRODUCTION..........................................................................................................................1

1.1 Overview................................................................................................................................1

1.2 Objective................................................................................................................................1

1.3 Teamwork division.................................................................................................................1

2. HARDWARE DESIGN.................................................................................................................2

3. SOFTWARE DESIGN...................................................................................................................2

4. SIMULATING RESULT...............................................................................................................2

5. CONCLUSION AND FURTHER DEVELOPMENT....................................................................4

5.1 Conclusion..............................................................................................................................4

5.2 Further development...............................................................................................................4

6. REFERENCES...............................................................................................................................4

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 1. INTRODUCTION

1.1 Overview:

Modern technology equipment in general and robotics in specific are now being
developed with more features for several purpose. In this report, we design and build a spider
robot with STM32F407 model kit and RC Servo motors. With the help of µKeil V5, we can
program the code to control the robot to walk around.

1.2 Objective:

 Find basic information about the robot’s movement

 Make technical drawing with collected data
 Hardware design based on the technical drawing
 Design the software to control the robot

1.3 Teamwork division:

Find basic information about the robot’s Lê Hoàng Tuấn Anh, Văn Trí Hào
movement
Hardware design Văn Trí Hào
Software design Lê Hoàng Tuấn Anh
Final checking Lê Hoàng Tuấn Anh, Văn Trí Hào

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2. HARDWARE DESIGN:

Fig.2 & Fig.3: Spider robot’s leg

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 Fig.2: Spider robot structure

3. SOFTWARE DESIGN

4. RESULT

5. CONCLUSION & FURTHER DEVELOPMENT

5.1 Conclusion

5.2 Further development

6. REFERENCES:

[1] “STM32F407”. STM32

http://www.st.com/en/microcontroller/stm32f407
[2] “Servo controller driver board”. Adafruit

[3] “Design of Six-legged Spider Robot and evolving walking algorithm”, Tolga Karakurt,
April 2015.