Hardware Design of Bipedal Locomotion Robot

K.S. Sim; C.P. Tso; G.Y. Lim; M.C. Foo

doi:10.4028/www.scientific.net/AMM.705.174

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 705Hardware Design of Bipedal Locomotion Robot

Hardware Design of Bipedal Locomotion Robot

Abstract:

This paper aims to design and develop a control system for the biped robot. The Peripheral Interface Controller (PIC) main controller board is designed to control the servo motor controller board which assures the biped robot to maintain its stability. This robot consists of PIC microcontroller, servo controller, servo motor, and sensors. The bracket parts are fabricated to mount the servo motors by constructing the biped structure. The PIC microcontroller provides interface among the sensors input, servo motor controller, and servo motor. The biped robot is able to walk in a stable motion under a flat plane. The sensors feedbacks enable the controller to adjust the stability of biped robot. The biped robot is able to perform walking steps and crouching action through the configuration of trajectory angle values of the servo motors.

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Periodical:

Applied Mechanics and Materials (Volume 705)

Pages:

174-177

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.705.174

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Online since:

December 2014

Authors:

K.S. Sim, C.P. Tso, G.Y. Lim, M.C. Foo

Keywords:

Biped, Bipedal, Hardware, Locomotion, PIC, Servo, Trajectory, Zero Moment Point

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References

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