Design and Fabrication of an Arduino-Based Self-Balancing Walking Robot’s Lower Limb

摘要

The study is focused on the design and fabrication of a robot’s lower limb, taking into consideration different factors including the effect of center of mass (COM) and joint angular movements to achieve human walking pattern. The bipedal robot can balance and withstand a specific amount of force at rest and in motion while walking on an even straight path. The researchers used Arduino IDE in programming the robot to make it balanced at rest and stably walk while in motion. The robot’s ability to withstand and self-balance at an external force of not more than twenty millinewton while at rest and in motion was achieved in this study. The researchers also compared the motion of the robot to the characteristics of human walking pattern based on its stability and accuracy in terms of step length, center of mass, center of pressure and joint angular movements. The robot was able to produce data about its movement based on the accuracy of joint angles, step length, and data records of its COM.