Smart Furniture

This report presents the design and implementation of a smart walking table that combines a mechanically stable multi-link walking mechanism with electronic control, obstacle detection, and autonomous user interaction. The prototype has a footprint of 50 × 50 cm, an overall height of 45 cm, a total mass of 12 kg, and a maximum verified payload of 8 kg. The Carpentier-inspired linkage transforms continuous motor rotation into a repeated foot trajectory with a flat stance phase and a lifted swing phase, producing stable continuous walking motion. Timed trials confirmed an average walking speed of 0.12 m/s. A differential locomotion approach, in which two independently driven sides allow forward movement and turning without a steering assembly, was validated through 40 indoor movement trials, of which 36 were completed successfully. Obstacle detection was implemented using three HC-SR04 ultrasonic sensors with a detection threshold of 30 cm; measured stopping distance averaged 28 cm with a response time of 0.4 seconds. Higher-level interaction was achieved using a Raspberry Pi 5, camera module, and ReSpeaker microphone. Voice-command success rate was 92%, while face-recognition accuracy reached 88% under indoor lighting conditions. The table autonomously navigates toward the recognized user after activation rather than following a predefined path or requiring manual remote control. Stability was tested while carrying payloads up to 8 kg, including books and electronic devices, across carpeted and tiled surfaces. The table maintained balance and avoided sudden jerks during start, stop, and turning maneuvers. The claim of mechanical advantage over wheeled motion is supported by comparative trials: the legged mechanism maintained traction on carpet where small caster wheels slipped under equivalent load. The resulting prototype demonstrates a feasible indoor smart table platform that emphasizes safety, modularity, autonomous operation, and expandability for future functions such as improved navigation and person tracking.