Simulation and Experimental Gait Cycle of Two Types of Degree of Freedom Bipedal Robot (original) (raw)

DESIGN AND DEVELOPMENT OF WALKING BIPEDAL ROBOT WITH THE HELP OF ARDUINO CONTROLLER

A biped is a two legged walking robot which imitates human gait. It is used in places where wheels cannot go easily for example stairs, terrains, etc. It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. With advances in science and technology, the interest to study the human walking has developed the demand for building the Bipedal robots. In this paper we describe the design, fabrication and analysis of Bipedal walking robot. The main objective of the project is to study about the theories and the practical challenges involved in making the bipedal ant to design the walking pattern for this. The Bipedal walking robot is designed with minimum number of actuators (servomotor) and it is controlled by the arduino based easily operated micro controller. The robot is designed by aluminum strip and simple servomotor. It walks like a human by balancing the centre of mass.

Analysis and Development of Walking Algorithm Kinematic Model for 5-Degree of Freedom Bipedal Robot

Mechatronics, Electrical Power, and Vehicular Technology, 2012

A design of walking diagram and the calculation of a bipedal robot have been developed. The bipedal robot was designed and constructed with several kinds of servo bracket for the legs, two feet and a hip. Each of the bipedal robot leg was 5-degrees of freedom, three pitches (hip joint, knee joint and ankle joint) and two rolls (hip joint and ankle joint). The walking algorithm of this bipedal robot was based on the triangle formulation of cosine law to get the angle value at each joint. The hip height, height of the swinging leg and the step distance are derived based on linear equation. This paper discussed the kinematic model analysis and the development of the walking diagram of the bipedal robot. Kinematics equations were derived, the joint angles were simulated and coded into Arduino board to be executed to the robot.

Construction and Control of the Bipedal Walking Robot

MATEC Web of Conferences

This article describes the design and testing of a walking robot. In the first stage, the mechanical behaviour of human’s lower limbs during the walk was observed and described to acquire data for the development of a simplified algorithm to control the legs of a walking robot. The second phase was the designing stage of the bipedal walking. Each robotic leg was equipped with six servo-drives. A gyroscope module with an accelerometer was used to measure the current position of the robot’s structure in space. The controller of a walking robot was developed and programmed based on Arduino Mega. The control algorithm stabilises the robot in an upright position. Potentiometers placed in the axes enabled measurements of angular positions of individual servos during the movement and were used to control walking. The programming of the movement is done through a smartphone which communicates with the robot's main controller using Bluetooth. Finally, the article describes the testing of...

Modeling and Designing of Bipedal Walking Robot

A humanoid robot is a robot with its body shape built to resemble the human body.The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of al locomotion or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robot also have heads designed to replicate human facial features such as eyes and mouths. Andriods are humanoid robots built to aesthetically resemble humans. It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. Furthermore, dynamic walking is more efficient than static walking. For a biped robot achieve dynamic balance while walking, a dynamic gait must be developed. Two different approaches to gait generation are presented an intuitive approach using software for gait animation, and a periodic approach that provides a scalable gait with parameters for controlling step length, step height and step period. A bipedal robot also requires a control system to ensure the stability of the robot while walking.

Biped Robot for Walking and Turning Motion Using Raspberry Pi and Arduino

The title of the project is 'Design, Construction and Analysis of Biped Robot for Walking and Turning Motion'. Biped robot is under the family of humanoid robot. Humanoid robots can assist for the experimental purposes. Furthermore, biped robots assist in the research of prosthetic legs. Purpose of this research is to investigate the link-up of two microcontrollers to control the biped robot whereby we decrease the dependence of hardware and concentrate more on software. The Biped Robot in this project has to be lightweight, small and cheap. Arduino and Raspberry Pi microcontrollers were used for this project. Implications of this study result in expanding the control or biped robots to not only depend on a single microcontroller but more so as to expand the dependence on software, thus reducing the cost of hardware. The performance of the Biped Robot was analyzed by dividing the motion of the Biped Robot into five parts which are Standing Straight, Sway Right, Left Leg Forward, Sway Left And Right Leg Forward. Next, the forward kinematics calculation of the Biped Robot was performed. Finally, the Biped Robot managed to walk and turn and the objective had been achieved.

Design and Simulation of a Walking Biped Robot using MATLAB/Simscape/Multibody

2020

This research describes the modeling and control of a humanoid robot using MATLAB/Simscape/Multibody. The focus is to obtain human-like walk, so the robot was designed to resemble human proportions and joints were developed to resemble the hip, knee and ankle joint of humans, and thereby enabling walking. The designed humanoid robot, called “Little”, measures14.94 cm tall and with 31 actuated degrees of freedom. Majority of the humanoids are design with straight links and with the zero position at the torso. The zero position at the torso makes the torso to be at a static position while the legs will be swinging. This research uses MATLAB/Simscape/Multibody as an open-source platform for exploration of humanoid and to support future development on manipulation and walking. The robotic humanoid is designed using MATLAB/Simscape/Multibody with all the joint angles configured to imitate the human joint angles and contact forces are placed on the feet of the humanoid to transfer the zer...

SIMULATION and CONTROL of a BIPED WALKING ROBOT using KINEMATIC and DYNAMIC MODELLING

In this article, we intend to consider the behavior and control of a biped walking robot using kinematic and dynamic relations. At first, by using simple model of humanoid robot and essentional equations the angles, angular velocities, accelerations of motors and required torques for moving on a straight line are find out. In the second step considering numerical values of the robot parameters and constructing the dynamic model the abilities of robot are examined and simulated.

Microcontroller Based Walking Robot with Multi-Degrees of Freedom Movement

In designing a walking robot, a power supply issue must be considered which is the required power to generate movement of the joint using a servomotor and the required of a suitable algorithm to enable the robot to move. In addition, the use of suitable devices to allow users to move the robot also should be considered. The objectives of this study is to develop the walking robot using minimum number of servomotor. The minimum number of servomotor allows the walking robot to minimize the power consumption while construct a program that can produce coordination of multi-degree of freedom for the movement of the robot. The project also tried to use PS2 joystick to allow users to control the robot forward or backwards and turn the robot to the left or right. The parameters studied include determination of the minimum voltage amount required to sustain the burden of the output which are servomotors used. Besides that, servomotor rotation angle at each joint in order to move the robot's feet and the use "USART" protocol to allow the microcontroller to communicate with a PS2 joystick driver circuit. It is found that four servomotors are sufficient to produce the basic walking robot and two voltage regulators are needed to control the load where one voltage regulator capable of supplying enough current to drive two servomotors for each leg.

IJERT-Design, Modeling and Analysis of Bipedal Walking Robot by Using Fuzzy Logic Controller

International Journal of Engineering Research and Technology (IJERT), 2013

https://www.ijert.org/design-modeling-and-analysis-of-bipedal-walking-robot-by-using-fuzzy-logic-controller https://www.ijert.org/research/design-modeling-and-analysis-of-bipedal-walking-robot-by-using-fuzzy-logic-controller-IJERTV2IS120359.pdf This paper describes the design, solid modeling and kinematic analysis of bipedal walking robot, which is developed through a strategy of balance control and movement of bipedal robot during its walk, it will also use fuzzy logic algorithm. The assumed motion for the bipedal robot is horizontal walking on a flat surface. The actuated joints are hip, knee and ankle joints which are driven by DC servomotors. The control signals produced by the fuzzy controllers are applied to the servomotors and then the response of the servomotors will led to the walking of the robot.

Design and walking pattern generation of a biped robot

This paper presents the design of a biped robot, the walking trajectory generation method, and experimental results about biped walking. Walking trajectory generation is one of the deterministic factors in walking robot applications. Different approaches for stable walking trajectory are worked on in robotic research. The linear inverted pendulum model (LIPM) is an effective method used with the zero moment point (ZMP) criteria. Biped robot trunk and feet moving patterns are generated depending on these fundamental methods. In this study, generated trajectories were tested by a 12 degree of freedom (DOF) biped robot RUBI built at Dokuz Eylül University. In the experimental work, the joint angles obtained by using inverse kinematics from the generated trajectories were implemented on the robot. The results showed that even with a simple control system implementation of generated trajectories is very promising in terms of stability and reducing complexity.