Bi-pedal walking robot
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Date
2018
Journal Title
Journal ISSN
Volume Title
Publisher
UMT.Lahore
Abstract
Bipedal walking approaches are one of the main technical hurdles the robotics researchers are trying to solve because of its high dimensionality, natural instability, and nonlinearity. The major challenge is to achieve a stable walk with inexpensive infrastructure without using complex algorithms. For this reason, only a small number of research groups have the ability to create robots that can walk. This project covers motion plan of bi-pedal walking robot and effort aims to develop a series of research for simple but reliable bipedal walking method. We are proposing a shift displacement walking technique. It attains CoP (Centre of Point) while walking and the projection of center of gravity of robot to ground remains within foot area of robot to maintain static stability. We have devised a coding technique to use the serial processing in a manner that it executes like parallel coding. We present the prototype of AMMY to test the simple walking. This robot gives exposure to static walking. It includes the gear train reduction mechanism actuator selection and controller interfacing using PCA9685.It accomplish accurate multiple motors angles on run time. The AMMY platform is based on KHR-1[5] and has 10 DOF, stands 38 cm, and weighted as 1.5kg. Major Inertial forces were taken care of by slowing it down a bit.