Simulation and Modeling of 6-DOF Biped Mechanism

Abstract

This is an approach of designing and implementing walking postures for bipedal robot. The project presents efficient mechatronic architecture describing mechanical to software issues related to designing and execution of locomotion. The aim is to simulate and exhibit the robustness and the efficiency of the controller architecture using PD controller in MATLAB. The mission is to develop a biped to walk using Arduino Mega 2560.PRO-E simulation is done to calculate motion parameters. Trajectory planning is accomplished using Matlab. Keywords: Arduino Mega, Biped, MATLAB, Pro-E