DocumentCode
2752131
Title
Design and Realization of a Biped Robot Using Stepper Motor Driven Joints
Author
Tar, A. ; Veres, J.
Author_Institution
Fac. of Inf. Technol., Peter Pazmany Catholic Univ., Budapest
fYear
2006
fDate
3-5 July 2006
Firstpage
493
Lastpage
498
Abstract
This paper introduces the design and realization process of a biped robot with stepper motor driven joints. The robot mechanism, system configuration, communication protocol, and basic control algorithm are presented in detail. By exploiting the advantages of stepper motors we constructed a biped robot that simulates human walking. In addition to its basic practicability, this robot can be equipped with several sensors and can therefore be made suitable for the completion of scientific projects. The effectiveness of the presented system was tested and confirmed by walking experiments on our 12-degree-of-freedom biped robot
Keywords
legged locomotion; robot kinematics; stepping motors; biped robot; communication protocol; control algorithm; human walking simulation; robot mechanism; stepper motor driven joints; system configuration; DC motors; Humans; Information technology; Legged locomotion; Permanent magnet motors; Robot sensing systems; Robotics and automation; Servomechanisms; Servomotors; Thigh;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, 2006 IEEE International Conference on
Conference_Location
Budapest
Print_ISBN
0-7803-9712-6
Electronic_ISBN
0-7803-9713-4
Type
conf
DOI
10.1109/ICMECH.2006.252577
Filename
4018412
Link To Document