Construction and Control of the Bipedal Walking Robot<bold> </bold>

被引:2
|
作者
Nowak, Patryk [1 ]
Milecki, Andrzej [1 ]
Bialek, Marcin [1 ]
机构
[1] Poznan Univ Tech, Dept Mechatron Devices, Jana Pawla II 24, PL-61138 Poznan, Poland
来源
III INTERNATIONAL CONFERENCE OF COMPUTATIONAL METHODS IN ENGINEERING SCIENCE (CMES 18) | 2019年 / 252卷
关键词
D O I
10.1051/matecconf/201925202009
中图分类号
TP39 [计算机的应用];
学科分类号
081203 ; 0835 ;
摘要
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 the developed bipedal walking robot, documenting satisfactory results in walking.<bold> </bold>
引用
收藏
页数:6
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