BIPED ROBOT
Overview
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In last decades, a large number of research and development projects have been undertaken worldwide aimed at building bipedal and humanoid robots. One such Biped robot was designed and built by a team in IVLABS in 2014. This was an important step for further research in this area in IVLABS. I was responsible for the mechanical design , manufacturing and the control of the Biped.
Working Principle
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It is a Biped robot with 6 actuators, 3 for each leg. In each leg, the 2 upper actuators represent the rotation of hip and knee joint in the sagittal (Side view) plane. The lower actuator represent the rotation of ankle joint in frontal plane(front view). The Biped walks following a "static walking gait". Inverse Kinematics was done in MATLAB for proper development of the walking gait for the robot. The actuators are controlled using a single ATMEGA16 micro-controller onboard, which was commanded via MATLAB using USART communication.
Mechanical Design
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Designing and Modelling of various links and actuator clamps has been done in Solidworks. A basic simulation of the walking gait was also done in Solidworks. All links and clamps were manufactured by CNC machine at the Robotic Lab, VNIT Nagpur.
Electronic Controls
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The actuators are controlled by onboard single Atmega16 micro-controller. Along with it, a raw PCB with various soldered components to manage power supply and distribution to the board and actuators was used. The actuator angles are commanded via MATLAB to the micro-controller via USART communication. A python based GUI for actuator (servo) control was also developed.
Features
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STRONG BUILD The material used for links is Aluminium which provides good strength with a strong
assembly
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CUSTOMISABLE DESIGN Simple design with possibility of varying link lengths if desired.
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ACTUATORS USED ​ Simple SERVO motors with a max 4.1 kg.cm of toruqe were used