**4. Working mechanism**

From **Figure 3** we can without much of a stretch comprehend the Robot's association anatomy and how the ultrasonic sensor, servo motors [1] and the LED are associated with the Arduino board (Atmega 328P).

Each leg has been utilized using two servos. Servos are joined in a position, that the thigh servo's movement will influence the direction of the foot servo; however, the thigh servo motors are attached to the structure and are not influenced by the foot servo motor's movement. As the thigh servos are connected to the body, when the foot servo moves, it makes the route of the entire robot body alongside the thigh servo. The LED functions by coworking with the sensor through code.

As the appropriate strolling of the Robot relies upon the turning estimations of the servo motor horns, it is must be cautious while connecting the servos realizing the underlying pivoting values. In this way, a legitimate comprehension of servo motor rotation impact on its strolling is likewise significant. Paths need to be connected in a cautious manner, such as in servos, wiring positives to voltage and negatives to the ground; otherwise, it may damage the equipment.

Biped's strolling and objects recognizing steps:

• The servo of the right foot ascents up and the servo motor right thigh turns to make the servos of the foot to approach.


In this cycle, the Robot explores starting with one spot then onto the next.
