Design, fabrication and control of a two-legged walking robot

Author

Ayaz, Yasar ; Afzal, Bilal ; Saeed, Mannan ; Saeed-ur-Rehman

Author_Institution

Dept. of Mechatronics Eng., NUST, Rawalpindi, Pakistan

fYear

2004

fDate

17-20 June 2004

Firstpage

73

Lastpage

78

Abstract

A 4-DOF (degrees of freedom) two-legged robot named NUSTBOT-I has been designed and built. The paper contains a description of the design and working of this robot, supported by mathematical analysis of its structure. The results obtained from this analysis have been applied for tracing the trajectory of the centre of gravity of the robot, as it walks. One of the main design objectives was the simplicity of its control algorithm. The robot shifts its centre of gravity by bending the upper part of its body sideways. It can perform basic walking and turning operations and is programmable for different applications even by users who do not have any technical knowledge about bipedal walking.

Keywords

control system synthesis; legged locomotion; mathematical analysis; motion control; position control; robot programming; bipedal walking; centre of gravity; mathematical analysis; two-legged walking robot; Educational institutions; Fabrication; Foot; Gravity; Leg; Legged locomotion; Mathematical analysis; Robots; Torque; Turning;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on

Print_ISBN

83-7143-272-0

Type

conf

DOI

10.1109/ROMOCO.2004.240642

Filename

1359487