Abstract
Humanoids or bipedal robots are other kinds of robots that have legs. The balance of humanoids is the general problem in these types when the other in the support phase and the leg in the swing phase. In this work, the walking pattern generation is studied by MATLAB for two types of degrees of freedom, 10 and 17 degrees of freedom. Besides, the KHR-2HV simulation model is used to simulate the experimental results by Webots. Similarly, Arduino and LOBOT LSC microcontrollers are used to program the bipedal robot. After the several methods for programming the bipedal robot by Arduino microcontroller, LOBOT LSC-32 driver model is the better than PCA 96685 Driver-16 channel servo driver for programming the bipedal walking robot. The results showed that this driver confirms the faster response than the Arduino microcontroller in walking the bipedal robot. The walking pattern generation results showed that the step height for 17 degrees of freedom bipedal robot increases approximately (20%) than 10 degrees of freedom bipedal robot, which decreases the step period by about (7%). Also, the time interval of the double support phase for 17 degrees of freedom bipedal robot increases approximately (11%) with decreases step length approximately (33% on X-axis) and (16% on Z-axis).
Highlights
A bipedal robot or humanoid is another type of robot, and it has two legs
A brief history of developing the robot's design and control is studied (Bräunl T., 2003). (Kemalettin E. et al, 2002) designed a foot-mounted zero moment point ZMP sensor based on FSR and ZMP data obtained from bipedal robot Mari-2 and Mari-1
These zero moment point references have the Gibbs phenomenon and a small DSP, approximate solutions of the center of mass references are appropriate for the bipedal robot
Summary
A bipedal robot or humanoid is another type of robot, and it has two legs. It is a significant replacement for the active robot because it can be moved on the unpaved land. (Tolga Olcay et al, 2017) studied the walking trajectory generation method and design of a biped robot They used different ways for the stability of a bipedal robot, such as ZMP and LIPM. The KHR-2HV simulation model almost fell as it stumbled and walked unstably This instability was caused by the dynamic center of mass motion from modifiable walking pattern generation required to perform the given footstep command The bipedal robot is a rigid body system, where it has two motions, translation and rotation
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
