This project focuses on the design and development of a quadruped robot with both manual and autonomous control capabilities. The robot features four legs, each with three MG90 servo motors, totaling 12 servos, which are controlled using a PCA9685 PWM driver connected to an ESP32 module. The ESP32-CAM is integrated to provide live video streaming, enabling real-time monitoring. For obstacle detection and avoidance, an HC-SR04 ultrasonic sensor is used in autonomous mode to navigate safely. A web-based interface is developed, allowing users to control the robot remotely and select between Manual Mode (direct control via the web interface) and Autonomous Mode (self-navigation using sensor feedback). The ESP32 acts as the main processing unit, managing servo movements, sensor data, and web communication. This quadruped robot combines embedded systems, wireless control, and real-time video streaming, making it useful for applications in surveillance, robotics research, and autonomous navigation experiments.          

Objectives:

1. Design and develop a quadruped robot with four legs, each controlled by three servo motors.
2. Integrate an ESP32-CAM module for real-time video streaming.
3. Implement an HC-SR04 ultrasonic sensor for obstacle detection and avoidance in autonomous mode.
4. Develop a web-based interface to control the robot remotely.
5. Enable mode selection (Manual/Autonomous) via the web browser for flexible operation.
6. Ensure smooth and stable movement of the robot for effective navigation.

         

The Major Building blocks of this project are:  

• ESP32 Module.
• ESP32 Camera.
• PCA9685 PWM driver.
• 12 MG90 Servo motors
• Battery power supply.
• Ultrasonic sensor.

         

Software’s used:

• Arduino IDE for compiling and dumping code into Microcontroller
• Express SCH for Circuit design.

           

       

video: