YoBro
YoBro 14 May 2020
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Spiduino - Neural Network Arduino Walking Robot

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Hello! This is the 2nd..ish? hardware prototype for an Arduino/Neural Network controlled walking robot! The basic idea is to sense the robot's movement in different directions using an accelerometer and reward actions (leg movements) that lead to a desired movement.

I could also reward it for keeping itself level, or throw some proximity sensors on there and teach it to avoid obstacles too!

I also recently got access to MuJoCo (http://www.mujoco.org/) and so I'll be able to build a simulation of the robot as well, and train it for millions of time steps (unlike the fragile hardware implementation). Then I can test how well the simulated training translates into the real world.

For hardware I'm using:
Arduino nano for control and data collection
PCA9685 16-Channel 12-Bit PWM Servo Driver to control the legs
4xAA batteries to power servos and Arduino
3d printed parts on a monoprice maker select v2 (with that blinding yellow filament!)

Thanks for watching, will post updates soon!

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