Design and fabrication of bipedal robot

摘要

Biped robots are complex in design due to the ambitious goal of mimicking the human gait. In this paper, a simple design of a fully autonomous bipedal walking robot that uses simple control and has a human-like morphology and gait is presented. Design aspects covered here include a new balancing control approach for regulating the centre of gravity using the Internal Centre of Gravity Shifter (ICGS). The hip, knee and the foot are designed with a human-oriented approach. The biped gait is achieved with 12 degrees of freedom in the robot: three at each hip, one at each knee, and two at each ankle. It is designed with minimal number of actuators and it is controlled by an ATmega8 microcontroller through a servo controller board.