BIPED

  Biped Robot 





Overview:

A biped robot in its simplest terms is a robot designed primarily for the analysis of the walking gait. The control of actuators and their feasibility in balancing of robot is taken into account while designing the robot. The mechanics of walking, dynamic analysis and inertial effects were studied for the robot. It also acts as a stepping stone for out final goal of a kid sized humanoid. The major source of motivation for us to conduct this research is the maneuverability of such a robot. The imitation of humans is the best way to design and hence, a gait similar to that of humans was adopted for locomotion. Such a gait is also elegant due to its ability to avoid obstacles faced during movement.

Insight:

This design, based on a simplified human leg, uses just six motors (three for the hip, one for the knee, and two for the ankle).The cad model was made and parts were fabricated using aluminum sheet. After the assembly of the entire robot we programmed the microcontroller ATMega8535 using the 16bit Timer to control the 6 servo motors and incorporated the trajectory that we generated considering the stability of center of mass. We took the weight of each Sub-Assembly of the robot and used those values in the equation to calculate the center of mass. Hence found the joint angles to generate the required trajectory. After many trial runs to test the algorithm required changes were made in the program to generate a stable walk

This has been demonstrated in the video below:-