Embedded Walking Algorithm for Biped Humanoid Robot with 17 Degrees-of-Freedom

摘要

Abstract The realization of the control algorithm consists of two main stages: planning of a joint coordination sequence and implementation of an embedded walking algorithm in the Arduino Mega 2560 hardware platform. The joint coordination sequence consists of 13 steps in order for the humanoid robot to move forward without falling. The embedded walking algorithm is realized around the operating points of the servo motors. The software is developed in Arduino IDE in C language.