This document summarizes a project to control a hexapod robot using a Raspberry Pi and finger detection. The project uses an API to control 24 servo motors on the hexapod robot either through finger gesture recognition detected by a camera or potential future control through head movement tracking. The hexapod robot walks on six legs in a stable gait and the Raspberry Pi controls the servo motors through an SSC 32 controller. Future applications could include using hexapod robots for disaster detection or controlling a wheelchair through gestures or head movements.

1. HEXAPOD ROBOT CONTROL BY
RASPBERRY PI AND BY FINGRE
DETECTION
PROJECT MEMBER:
Rishabh katariya(ViMEET)
Shreyas munot(ViMEET)
Arjun singh(ViMEET)
RASIKA KOTHARI(SINGHGAD)
UNDER GUIDANCE:
Prof. Boyan Petrov(TUS)
Prof. Neven Nikolov (TUS)

2. Project topic
• API FOR CONTROLLING HEXAPOD ROBOT BY
USING RASPBERRY PI.
• FINGRE DETECTION TO CONTROL HEXAPOD
ROBOT.
• HEAD MOVEMENT TRACKING TO CONTROL
HEXAPOD ROBOT(UNDER PROCESS)

3. HEXAPOD
• A hexapod robot , somewhat recent
innovation in robotics, is a mechanical
vechicle that walks on six legs.
• Characteristic of this gait:
–one middle leg on one side and two non-
adjacent legs on the other side of the body
lift and move forward at the same time,
– the other 3 legs remain on the ground and
keep the robot statically stable.

4. Main Components
Raspberry Pi
SERVO MOTORS
SSC 32 Servo Controller

5. Raspberry pi
• Low cost credit card sized computer.
• It consist of USB port, Camera port, HDMI
port, ETHERNET port, SD Card slot etc.
• It’s capable of doing everything you’d expect a
desktop computer to do from browsing the
internet and playing HD videos, word-
processing, playing game etc.

6. OPERATING ENVIRONMENT
SOFTWARE HARDWARE
A. Visual studio 2013
B . Engu CV
C. Putty
D. TCP Server Client
A. 24 Servo Motors
B. SSC 32 Servo Controller
C. WIFI Model
D. Raspberry pi
E. Camera
F. RF 323 USB UART CABLE

7. APPLICATION PROGRAMMING INTERFACE(API)

8. WORKING OF API SIGNAL

9. HEXAPOD CONTROL BY FINGRE
DETECTION
• Gesture recognizing is a topic in computer
science and language.
• Gesture reorganization enable human to
communicate with the machine (HMI) and
interact naturally without any mechanical
device.

10. WORKING OF FINGRE DETECTION

11. HEAD MOVEMENT TRACKING
• IN HEAD MOVEMENT TRACKING
WEB CAMERA WILL DETECT FOUR
MAIN POINTS OF YOUR FACE.
• IT WILL TRACK THEIR POSITION AFTER EVERY
FRAME.
• IF POSITION OF POINTS AFTER TWO
CONSIQUTIVE FRAME IS SAME THEN IT WILL
DISPLAY APPROPRIATE POSITION.

12. WORKING OF HEAD MOVEMENT
TRACKING

13. ADVANTAGE
• MOTION CONTROLLED
• MULTIPLE USE
• WIRELESS
• SIMPLE DESIGN
• EASY TO USE
• EASY UPGRADING

14. FUTURE SCOPE
• CONTROL HEXAPOD USING HEAD TRACKING.
• USE HEXAPOD TO DETECT HUMAN AFTER
DISASTER.
• USE IN MINING AREA.
• CONTROL WHEEL CHAIR BY USING FINGRE
DETECTION AND HEAD MOVEMENT.

15. REFERENCE
• ENGU CV HAND GESTURE RECOGNIZER TUTORIAL
https://www.youtube.com/watch?v=Fjj9gqTCTfc
• RASBERI PI TCP CPLIENT SERVER TUTORIAL
https://www.youtube.com/watch?v=oSDamGCLCnE
• HEXAPOD MOVEMENT
https://www.google.bg/?gfe_rd=cr&ei=HOmxVav1E6mz8wfBuLa
YCw&gws_rd=ds
• C# CODE TUTORIAL
http://stackoverflow.com/questions/56282
74/c-sharp-tutorial

16. • Any Questions ?

17. THANKYOU