PURBANCHAL UNIVERSITY

HIMALAYAN WHITEHOUSE INTERNATIONAL COLLEGE

PUTALISADAK, KATHMANDU

A
Project Proposal
On
“WALKING ROBOT”

Submitted By:
Abhay Chaudhary
Ishwor Rai
Utsav Giri

Submitted To:

THE DEPARTMENT OF SCIENCE & TECHNOLOGY

IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF

BACHELOR IN INFORMATION AND TECHNOLOGY

March, 2025

Kathmandu, Nepal
 APPROVAL CERTIFICATE

The undersigned certify that they have read and recommended to the Department of Science
and Technology for acceptance, a project report entitled “Walking robot” submitted by
Abhay Chaudhary, Utsav Giri & Ishwor Rai in partial fulfilment for the Degree of Bachelor
in Information Technology.

…………………………..

Er. Jaya Raj Joshi

Coordinator

Date:

……………………………

External Examiner Date:

……………………………

Er. Bimal Sharma

Head of Department

I
 ACKNOWLEDGEMENT

The completion of this project would not have been possible without support and dedication
of many individuals. We take this opportunity to express our gratitude to the people who have
been instrumental in the successful completion of this project.

First and foremost, we extend our sincere thanks to Er. Kulraj Khanal for his invaluable
support and guidance in completing this project on “Walking Robot”. A guide who critically
reviewed our project and helped in solving each and every problem occurred during
implementation of the project. Without his support, it would not have been possible to
achieve the goals of our project.

We express our deep sense of gratitude to our principal Mr. Toya Narayan Poudel and HOD
Er. Bimal Sharma for giving us this wonderful opportunity and continuously motivating us,
as well as extending their helping hand to us.

Lastly, a special thank you to our friends and all the individuals who offered their help and
support throughout this project. Your encouragement and constructive feedback have been
invaluable.

Thanking you

Abhay Chaudhary

Ishwor Rai

Utsav Giri

II
 ABSTRACT
This project aims was to design and develop a walking robot using Ardunio, two motors, pop
sticks, and required electronic components. The robot is controlled by an Arduino
microcontroller and utilizes motors to achieve movement of its legs. The mechanical design
focuses on simplicity and lightweight construction, using affordable and readily available
components. The project aims to demonstrate the integration of basic robotics, motor control,
and gait algorithms to create a functional walking robot. This project serves as an educational
tool for understanding robotics principles and Arduino programming. Future enhancements
may include obstacle avoidance, remote control, and advanced gait patterns for improved
functionality.

III
 TABLE OF CONTENT
APPROVAL CERTIFICATE.....................................................................................................I
ACKNOWLEDGEMENT.........................................................................................................II
ABSTRACT.............................................................................................................................III
LIST OF FIGURES...................................................................................................................V
LIST OF TABLES...................................................................................................................VI
CHAPTER 1...............................................................................................................................1
INTRODUCTION......................................................................................................................1
1.1 Background..................................................................................................................1
1.2 Statement of Problem..................................................................................................1
1.3 Objective......................................................................................................................1
1.4 Significance of the project\..........................................................................................1
1.5 Limitation of the project..............................................................................................2
CHAPTER 2...............................................................................................................................3
LITERATURE REVIEW...........................................................................................................3
CHAPTER 3...............................................................................................................................4
METHODOLOGY.....................................................................................................................4
3.1 System Design.............................................................................................................4
3.2 Hardware Component..................................................................................................4
3.3 Software Component...................................................................................................5
3.4 Implementation Plan....................................................................................................5
3.5 Outcome......................................................................................................................5
CHAPTER 4...............................................................................................................................6
PROJECT TIMELINE...............................................................................................................6
CHAPTER 6...............................................................................................................................7
BUDGET AND RESOURCES..................................................................................................7
6.1 Hardware component:.................................................................................................7
6.2 Software and tools:......................................................................................................7
CHAPTER 7...............................................................................................................................8
CONCLUSION..........................................................................................................................8
REFERENCES...........................................................................................................................9
ANNEX....................................................................................................................................10

IV
V
 LIST OF FIGURES
Figure 1: Block Diagram……………………………………………………………………....4

Figure 2: Front view of robot…..……………………………………………………….........10

Figure 3: Side view of robot….. ……………………………………………………………..10

Figure 4: Setup Code….. ………………………………………...…………………………..10

Figure 5: Loop code….. ……………………………………………………………………..10

VI
 LIST OF TABLES
Table 1: Project Timeline.….………………………………………………………………….6

Table 2: Hardware Budget….…………………………………………………………………7

Table 3: Software and Tools cost ………………………………………………………...…...7

VII
 CHAPTER 1
INTRODUCTION
1.1 Background
Robots are machines that can move and do tasks. Some robots have wheels, but wheels don’t
work well on rough or uneven ground. That’s why scientists and engineers have started
looking for different ideas for moving from one place to another. Thats where we came with
an idea to develop a walking robot that moves from one place to another place without the
use of wheels.

legged robots, are simpler than other robots with more legs but can still walk well. These
robots are used for learning, fun, and even tasks like exploring dangerous places. With tools
like Arduino, a small and easy-to-use computer, anyone can now build and program their
own robots. This makes robotics fun and affordable for students and hobbyists.

This project is about building a simple walking robot that walks or moves from one place to
another. It uses Arduino to control small motors called DC geared motor, which move the
legs. The goal is to create a robot that is easy to build, fun to learn from, and shows how
robots can move from one place to another.

1.2Statement of Problem
While wheeled robots are efficient on flat surfaces, they struggle in uneven or rough terrains.
Legged robots, inspired by nature, offer a solution to this limitation. However, designing and
building legged robots can be complex and expensive, often requiring advanced knowledge
of robotics and engineering. This project addresses the need for a simple, affordable, and
educational legged robot that can demonstrate basic principles of locomotion and
biomimicry.

1.3 Objective
 To design and build a walking robot using Arduino and motors.
 To program motor control using Arduino and C/C++ programming language. So, that it
can move from one place to another.

1.4 Significance of the project

Educational Impact:

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 Teaches robotics, programming (Arduino/C++), and mechanical design and
hobbyists. Shows how nature-inspired designed solve engineering challenges.

Societal Benefit:

Encourages DIY culture and problem- solving in Nepal’s tech community.

Practical Application:

Potential to navigate rough terrain where wheeled robots fail.

1.5 Limitation of the project

 The robot has limited load capacity due to its lightweight body made of pop sticks.
 The movement is restricted to basic directions and does not support complex
maneuvers.
 Battery life is limited and depends on the type and condition of the battery used.

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 CHAPTER 2
LITERATURE REVIEW
In the study "WORKING PRINCIPLE OF ARDUINO AND USING IT AS A TOOL FOR
STUDY AND RESEARCH" by Leo Louis [1], In recent years, Arduino has emerged as a
popular open-source electronics platform widely used for educational and research purposes
due to its simplicity, low cost, and flexibility. This paper reviews the working principles of
Arduino, including its hardware architecture based on Atmel microcontrollers and its user-
friendly software environment (IDE) for programming in C/C++. Various Arduino board
types and shields are discussed, highlighting their applicability in sensor-based systems,
wearable electronics, UAVs, and even satellite experiments. The study concludes that
Arduino serves as an effective tool for learning embedded systems and prototyping, fostering
innovation among students, hobbyists, and researchers.

Similarly, in the paper "Speed and Direction Control of DC Geared Motor Using WiFi
Module" by Dr. Anupama Singh, Dr. Sawata Deore, Labhada Khandare, Sanket Shinde,
Pranav Rane, 6Raj Nangare. [2], In this paper, A. Singh et al. present a Wi-Fi-based platform
for remotely controlling the speed and direction of a DC geared motor using an Arduino
Nano, NodeMCU, L293D motor driver, encoder-based speed feedback, and socket
communication for motor control commands. The system architecture facilitates bidirectional
motor control and real-time speed monitoring within a wireless network, and experimental
results confirm its effectiveness and suitability for networked control applications. The
approach offers advantages such as high dynamic response, remote operability, and improved
speed–torque characteristics, making it a promising prototype for further studies in networked
motor control systems.

Also “Arduino-based DC Motor Control System using Bluetooth Module” by A.

Bhanu Prakash and M. Vishnu Kumar [3] In this work, the authors propose a wireless DC
motor control system using an Arduino Uno, L293D driver, HC-05 Bluetooth module, and an
Android app. The mobile application interfaces with the Arduino via Bluetooth to send
commands that adjust the motor’s speed through PWM and change its rotation direction
using H-bridge logic. A display on an LCD indicates feedback from the motor. The system
offers intuitive and power-efficient remote control over short-range networks, minimizing
wiring requirements and manual intervention, and is suitable for use in home automation and
industrial settings

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 CHAPTER 3
METHODOLOGY
3.1 System Design
The walking robot follows a straightforward architecture: an Arduino Uno receives user
commands from mobile application through Bluetooth module and processes them into gait
patterns, which are sent HC-05 bluetooth module to a L298N Motor driver that controls 2 DC
motors. Powered by 4 3.7V Li-ion battery with voltage regulation (12V for servos, 5V for
Arduino), the system translates DC motor movements into walking through a tripod [Link]
entire system is governed by efficient Digital signals from the Arduino.

Smart Phone with Bluetooth

App

Bluetooth Module

Arduino

Motor Driver

2 Dc Geared Motors

Figure 1: Block Diagram

3.2Hardware Component
 Arduino Uno/Nano: The main microcontroller for controlling the robot.
 DC geared Motors: 2 motors for leg movement.
 HC-05 Bluetooth Module – For wireless communication with a smartphone.

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  Power Supply: 12V Li-ion battery pack, each of 3.7V of 4cells.
 Smartphone – Acts as a remote controller using a Bluetooth app.

 L298N Motor Driver – Controls motor direction and power supply.

 Chassis: Lightweight materials of Pop sticks.
 Connectors: Jumper wires, screws, and nuts.

3.3 Software Component

 Programming Language: C/C++ (Arduino IDE).
 Bluetooth Controller App: For serial communication with Arduino.
 IDE: Arduino IDE for writing and uploading code.

3.4 Implementation Plan

 Requirement Analysis: Defined locomotion goals (speed, terrain), select Motors
type , and decided on control method .
 Component Selection: Purchased DC Motors, Arduino, Li-ion battery, Motor driver,
Bluetooth module, parts element.
 Mechanical Assembly: Assembled the mechanical body using pop sticks and
securely mount the motors. Build the leg mechanism and connect it to the DC motors.
 Circuit Design & Wiring: Connect DC motors to L298N motor driver, power
components and link Arduino for control.
 Programming: Write Arduino code for tripod gait and integrate Bluetooth
commands.
 Testing & Calibration: Observe motor response and walking behavior of the robot
by sending directional commands to the robot.
 Deployment: Finalize assembly, document wiring, and prepare open-source files.

3.5 Outcome
At the end of this project, we are able to create a functional walking robot that moves from
one place to another using Arduino and DC motors. The system delivered the following
outcomes:

 A walking robot successfully able to move from one place to another.

 Movement commands (e.g., "FWD," "LEFT," "STOP") via Bluetooth remote control
using an Android app.

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 Responds immediately to Bluetooth commands (Forward/Back/Left/Right).

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 CHAPTER 4
PROJECT TIMELINE

Since this is a 6-month project, Below is the updated timeline with a longer duration.

Table 1: Project timeline

Task Description Start Date End Date Duration

Define the project scope, objectives, and 2025-03-

1. Project Planning 2025-03-25 6 days
requirements. 20

Create sketches, diagrams, and initial 2025-03-

2. Design Phase 2025-04-05 11 days
design of the robot. 26

Purchase necessary components (Arduino, 2025-04-

3. Component Gathering 2025-04-10 5 days
motors, etc.). 06

4. Mechanical Assemble the robot body using pop sticks 2025-04-

2025-04-25 15 days
Construction and motors. 11

Set up the Arduino board, sensors, and 2025-04-

5. Electronics Integration 2025-05-10 15 days
motor connections. 26

Write code to control the robot's 2025-05-

6. Programming Phase 2025-05-25 15 days
movement and functionality. 11

2025-05-
7. Testing Phase Test and debug the robot's functionality. 2025-06-05 11 days
26

Refine design and fix any issues based on 2025-06-

8. Final Adjustments 2025-06-15 10 days
testing results. 06

9. Documentation and 2025-06-

Prepare the final report and presentation. 2025-06-30 15 days
Reporting 16

CHAPTER 6

7
 BUDGET AND RESOURCES
6.1 Hardware component:
Table 2: Hardware Budget

Component Quantity Estimated Cost Total Cost

Arduino uno 1 650 650

DC motors 2 160 320

Jumper wire 2 set 100 200

Motor Driver 1 300 300

Pop sticks 5 100 500

Switch 1 50 50

Bluetooth Module 1 300 300

Grand Total 2320

6.2 Software and tools:

Table 3: Software and tools cost

Resource Cost

Arduino IDE Free

Tinkercad Free

Remote Control Software Free

Tools(Glue, tape, Scissors, Papercutter etc) 450

8
 CHAPTER 7
CONCLUSION
The walking robot project successfully demonstrates locomotion, Arduino-based control, and
Motor driven mechanics that created a functional and educational robotic system.
Implementing a tripod gait for stable movement, this project achieved smooth locomotion
while remaining accessible for students and hobbyists.

Key accomplishments include:

 Stable walking motion.

 Wireless control via Bluetooth for intuitive operation.
 Cost-effective hardware using locally available components.
 Scalable design ready for future upgrades like obstacle avoidance or autonomous
navigation.

This project serves as a foundation for robotics learning, encouraging further

experimentation with sensor integration, AI-based gait control, and advanced mechanics.
The open-source documentation ensures that others can replicate, modify, and expand
upon this work, making it a valuable resource for STEM education in Nepal and beyond.

Future enhancements could include terrain adaptation, solar power, or swarm robotics
applications, pushing the boundaries of low-cost bio-inspired robotics.

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 REFERENCES
[1] Leo Louis, " WORKING PRINCIPLE OF ARDUINO AND USING IT AS A TOOL
FOR STUDY AND RESEARCH," 2019.[Online].Available:
[Link] . [Accessed: 2nd Jan. 2025].

[2] Dr. Anupama Singh, Dr. Sawata Deore, Labhada Khandare, Sanket Shinde, Pranav Rane,
Raj Nangare, " Speed and Direction Control of DC Geared Motor Using WiFi Module
[Online]. Available:
[Link] .[Accessed:
2nd Jan. 2025].

[3] A. Bhanu Prakash and M. Vishnu Kumar, “Arduino-based DC Motor Control System
using Bluetooth Module,” Turkish Journal of Computer and Mathematics Education
(TURCOMAT), vol. 12, no. 1, pp. 685–690, Dec. 2021. [Online]. Available:
[Link] .[Accessed: 12jan.
2025].

10
 ANNEX

Figure 2: Front view of robot

Figure 3: Side view of robot

Figure 4: Setup code

Figure 5: Loop code

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