Two legged robot design , simulation and realization

Abstract

This paper introduces a systematic approach to design and realize a two-legged robot. Design and system configuration of a two legged robot are explained in detail. Development process of the robot has been divided in to three phases, (1) Design (2) Verification and (3) Realization, while robot's architecture consists of three subsystems, (1) Mechanical subsystem (2) Electronics subsystem and (3) Software subsystem. Each of these subsystem is explained in detail. During design phase mechanical and electronic subsystems of the robot have been designed, design of mechanical subsystem focuses on identifying actuation mechanism and material to be used for links, stepper motors have been chosen as actuators to reduce control mechanism complexity. Design of electronics subsystem focuses on identifying appropriate mechanism to control each actuator and providing interface to software subsystem, for controlling each stepper motor, controller A-3982 from Allegro Microsystems while to control each stepper motor controller, microcontroller AT89S52 from Atmel has been selected. In verification phase by using simulator(part of software subsystem) each subsystem has been verified for desired requirements and performance. From simulation results it is confirmed that robot will be able to walk. Realization of the physical robot is under progress.