Design and construction of a bipedal robot prototype for experimentation in balance tests during the static standing phase

摘要

This paper presents the results obtained in the design and construction proposal of a 12 DOF bipedal robot, based on the ROS operating system for the balance experiments during the static standing phase and generation off-line gait joint trajectories. This robot was made with electronic and structural features, looking to omnidirectional walk. ROS operating system used, to have a distributed execution of the algorithms, different programming languages, and connectivity between different devices. Obtaining as results, monitoring the robot's CoP using pressure sensors installed on its feet. What's more, a PID balance controller was designed, which was applied to the Cart Table model of the proposed robot and verified by simulation in MATLAB Simulink. It must be said that the validation of the balance controller in the physical structure of the robot will be carried out in future works.