Design and fabrication of 3-D printed 6 DoF walking Bipedal robot with Arduino controller and analysis of gait pattern

Abstract

Robotic engineering is both an emerging and challenging field that includes designing, maintaining, periodically upgrading, and developing newer applications thereby expanding the research of the field. The fundamental objective in designing a biped robot is to produce locomotive behavior that can be attuned to human environs. For this purpose extensive collaborative research has been done to integrate control and mechanical aspects by integrating biological and applied sciences. In short a biped is a two legged walking robot that resembles basic anthropoid gait. It is primarily put into use in a terrain where wheeled bots cannot go, as in the case of steps, steep terrains etc. Bipedal robots can easily be accommodated in a human-oriented environment than for other types of robots since it gives a human like presence rather than a machine on wheels. In this paper, we explain the design and development of Gait pattern of a 6 Degrees of Freedom (DoF) Bipedal walking robot. We use minimum number of actuators to serve the purpose and ARDUINO microcontroller as an interface medium. Solid Works is used for design and Msc-Adams for analysis and the physical model is fabricated by 3D printed brackets.