202041050356 2
IMPLEMENTATION OF TARGET DRUG AND FOOD DELIVERY "HIMIBOT" ROBOT FOR MILITARY APPLICATION
CROSS-REFERENCES TO RELATED APPLICATION'S |000I| This application is a complete spccificaiion of provisional paicm applicarion no. 202041050356 entitled Implementation Of Target Drug And Food Deliver,' -Hiinibot" Robot For Military Application filed on 19.1 i .2020.
FIRLD OF IK'VFMTrnw 0002| Soldiers at the Snowy Mountains may be gelling stuck at times of heavy snow, it is necessary to fulfil their primary requirements such as food and medication which can be done by a multi-legged robot- "H1MIBOT".
DESCRIPTION OF THE RELATED ART
[0003| Snowy mountain climbing robots can play a major role in two situations such as I) Providing basic requirements to the soldiers from the workplace when required. 2) In order to travel to the area ahead of the soldiers to know the conditions of the place. Making a robot which is having the potential to move in a snowy area is a big task as the movement of the robot is difficult so we must majorly focus on the area which makes the movement of the robot more feasible and stable, many situations arise where there is the possibility of heavy snowfall and if the robot has no proper base firm to stay stable at its place then it makes it work even more complicated and unusual, secondly, another important part is ' that the machine can get jammed because of very cold condition which lias to be taken care of, and finally a problem with the robot machinery is that can be damaged out by the wild polar animals which make it task as a mark of failure.

[0004| So here we come up with an invention of a robot that uses a supervised learning Algorithm and has the ability to mount up the mountains by using a "drilling mechanism7'. The reason for using the drilling mechanism is because it is one of the best ways which make the robot stay firm and always attach to the mountain. The robot wit! be like that of a spider which will have six legs with a drill bit at the lower end of the leg which will initially drill and penetrate snow and will be having a locking capability which will make the movement of the robot more feasible and stable. Due to this mechanism, it will be having the ability to lift the estimated weight of 20kg in a very easy way. The moment will be done with the six legs drilling and releasing in such a fashion that when the front legs arc drilled and fixed the tower legs release out from their initial position and drill to the forward position making the moment of the robot possible. The mechanism is as similar as a human uses for their morion in the snowy areas (tracking mechanism with the stick). As the robot will have the ability to lock down it legs to die mountain it will help him to be stable and stick when there is. any possibility of snow sliding. The drilling bits and other important parts of the robot must also be provided with a self-hcatiii" system so that in any case of a jam caused by the snow the heat energy provided with the mechanism will make the robot work out more feasible. The stability of the robot can be sustained by using stability sensors like force sensors, inertial sensors and perception sensors are coupled with the legs of the bot. The robot is integrated with various sensors such as temperature, humidity, wind sensor, amount of oxygen calculating sensor, GPRS technique which play a role in communication with the robot, a 360° rotating camera which help of the navigation by providing information about the obstacles which are ahead and gives more feasible data around the robot. All the data collected from the sensor will be sent to the bii»c station from which further guidelines can be instructed to the robot if require. Here there is no human interference to drive out the robot and it can be remotely controlled by setting the destination or by providing instruction for its movements.

202041050356 4
|0005| Integrating the robot with these sensors will help soldiers to Send the robot to the higher
peaks ahead and know the various condition of the peaks and even it will help them to tind and
track the place which will be beneficial to stay during the peak hours, apart from that prior
information about the area will help their journey more comfortable and easy.
BRIEF DESCRIPTION OF THE DRAWINGS
|006| The invention has other advantages and features which will be more readily apparent from the following detailed description of the invention and the appended claims, when taken in conjunction with the accompanying drawings., in which:
|007| FIG. 1 illustrates the block diagram of HIMLBOT [00S| FIG. 2 shows the walking mechanism of HIMLBOT [009] FIG. 3 shows the HEM1BOT Robot

[0l)J2| While the invention has been disclosed with reference to certain embodiments, it will be understood by those skilled in the art that various changes may be matte and equivalents may be substituted without departing from the scope of the invention. In addition, many modifications may be made to adapt to a particular situation or material to the teachings of the invention without departing from its scope.
(0013| Throughout the specification and claims, the following terms take the meanings explicitly associated herein unless the context clearly dictates otherwise. The meaning of "a". "an", and "the" include plural references. The meaning of "in" includes "in" and "on." Referring to the drawings, as numbers indicate like parts throughout the views. Additionally, a reference to the singular includes a reference to the plural unless otherwise staled or inconsistent with the disclosure herein.
LOO 141 SYSTEM ARCHITECTURE: In various embodiments, the method 100 as .shown in FIG. I shows the architecture of the system is divided into two sections of independent blocks A). Control Section, diis proposed system has various blocks integrated into it which arc discussed below. In step 101 the power supply section is used in order to power up the controller as well as the Servo Driver in step 102. In step 103, Alt the Servo motors are interfaced to Servo Driver in step 102. In step 104, a Bluetooth Module is in this Project act as an interface between the hot and the user who want to control the bot. Commands are instructed to the Bot via the Mobile through the Bluetooth module, in step 105, Accclcromctcr is installed in order to know the inclination of the oot at the terrain surface so that the necessity of the drill can be understood. In step 107. Temperature, humidity and wind detector Sensor are integrated in order to understand the Weather conditions at which the bot is present. In step 106 GPS Module is set in order to locate the position of the bot. The Block Diagram of system 1(10 is disclosed in one embodiment.

B) Mobile Application: A mooite Application IUO ji ucMgncu m wwi iv> a»."u „,< w< .«.«..
to the bot which include Commands such as Sit. Stand, Forward, Backward, Left. Right etc. Apart from sending commands to the bot, this mobile application accepts the data from the bot regarding the environmental conditions of the surroundings of the bot.
|00I5| CHARACTERISTICS OF THE BOT: Eventually, there are two important characteristics for a himibot 300 that make it different from the other robots 1) Degree of Freedom 2) Walking Mechanism. Degree of freedom: For a mechanical system is the number of independent parameters that define its configuration. It is the number of parameters that determine the state of a physical system and is important to the analysis of systems of bodies in mechanical engineering, aeronautical engineering, robotics, and structural engineering. Three degrees of freedom for a good functioning chassis, because the legs move along a circle and the forward movement of the body causes slipping between the foot and the terrain, which can be compensated by a third joint. Walking chassis movements can be divided into statically stable and dynamically stable. Static stability represents the ability of the chassis lo remain in a stable position in every moment of movement. Static stability is typical for hexapod, which is always stable during its movement. Dynamically stable chassis is sometimes out of balance - balancing or falling. Hence, the body has three independent degrees of freedom consisting of Two components of translation and one angle of rotation.
(00f6| Walking Mechanism: Walking Mechanism 200 refers to the locomotion achieved through the movement of robot legs. A Robot usually has more than two legs. Hence, ilie locomotion is more complicated. There are several basic gaits, such as tripod, wave or ripple. Tripod gait is based on two groups of legs. During each step, the first group 201 of legs is lifted and is rotated forward and is laid upon on the ground. Then the other group 202 is lifted. Now both gruups arc moving, the first group backwards, the second group forward and finally the second group is laid on the ground. It is obvious that both groups perform the same movement. but they are shifted by half a period. Tripod gait is very fast, but also very unstable. That is because at one moment half of the whole weight of the robot is only on one leg. which can lead to slip or even to fall. By making such groups each time the centre of mass is always maintained

at a static position, wave gait is the most stable, but the slowest, it consists of a sequential adjustment of legs forward and only when all the legs are set to the new positions, die step is completed, In each phase of the step maximally one Icy is lifted up, which leads to the high stability of this gait. Ripple gait is inspired by insects. Each leg performs the same move - up, forward, down, backward. Leg moves partially overlap. In other words, the time when During movement leg (1) act has a head and (6) a tail in steps 201 and 202. All the distance measurements here are caused due to the servo motors so calculating the angle is one of the most important. Hence due to many available options for the walking mechanism, the bot can be set up such that based on the terrain the mechanism of its walking can be altered. For lesser inclined surface tripod gait can be used and as the inclination increases the higher stable gaii like the wave gait can be used.
|0056| METHODOLOGY: Initially the Bluetooth of the Bot and mobile application has to be paired up and connected. As soon as the connection is built the accelerometer and the GPS module present in step 106 on the bot send the data to the mobile application based on which commands are instructed back to the bot. The accelerometcr readings help us to determine to choose the type of gait which the bot has to follow in order to remain stable. The plain surface can use a tripod gait but as the inclination increases the bot has to follow the wave gait mechanism. If the Inclination is higher than the bot seems a higher level of instability so in ouier to overcome this situation, each leg of the bot are equipped with an extra Servo to which a DC motor along with a drill bit is placed. This. Mechanism system helps the legs to penetrate the mountain and the rotatory action of the servo makes the bot gain firmness with respective to the inclination, A Hexapod robot was designed, constructed and tested during this project. Robots can walk using a tripod, wave and ripple gaits, so the robot can walk in rugged terrain. An Arduino Mega 2560 board was selected as the main control unit. This board is equipped with an Atmcgu2560 microcontroller and all peripherals ore connected 1o it. Other sensors like humidity, temperature etc, are Integrated to provide the necessary information from the fiot Performed tests show, that the robot is capable of quite a precise movement, even in rugged terrain. In our fimnc

work, wc want to involve in ihc research of controlling hexapod robots using evolution techniques like central pattern generators
f0056] FUTURE SCOPE: One of the major drawbacks for a Legged robot is it is slow hi motion and hence will take more time to reach the destination. So. in order 10 compensate for this, wc arc further planning to design hybrid chassis which have both legged as well as wheel chassis. Hence, based on the terrain the chassis itself adjusts to wheeled or legged locomotion.