Abstract
This article describes the design and testing of a walking robot. In the first stage, the mechanical behaviour of human’s lower limbs during the walk was observed and described to acquire data for the development of a simplified algorithm to control the legs of a walking robot. The second phase was the designing stage of the bipedal walking. Each robotic leg was equipped with six servo-drives. A gyroscope module with an accelerometer was used to measure the current position of the robot’s structure in space. The controller of a walking robot was developed and programmed based on Arduino Mega. The control algorithm stabilises the robot in an upright position. Potentiometers placed in the axes enabled measurements of angular positions of individual servos during the movement and were used to control walking. The programming of the movement is done through a smartphone which communicates with the robot's main controller using Bluetooth. Finally, the article describes the testing of the developed bipedal walking robot, documenting satisfactory results in walking.
Highlights
The interest in building robots which can directly cooperate with humans has increased significantly
In recent years, a lot of studies have been conducted on bipedal walking robots [1,2,3,4]
Its development proved to be a serious challengebecause the direct implementation of the phases of limbs movements presented in Fig. 3 and Fig. 4 into the control algorithm was insufficient for the robot to walk
Summary
The interest in building robots which can directly cooperate with humans has increased significantly. Such robots can be used for many personal and entertainment purposes. Numerous research institutes and companies have begun building robots resembling Such robots are mostly designed to operate inside home. These robots move on wheels or walk in a manner similar to humans, and sometimes should be able to walk up the stairs. Such ability can be designed if the robot’s legs resemble the human limbs. From the engineering point of view, it is much easier to use a design developed and validated “by the nature” itself
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