Study and design of biped robot of ten DOF for stability analysis in walking process

Author

Cordova-Villarreal, C.M. ; Montesdeoca-Contreras, J.C. ; Avila-Campoverde, R.S. ; Morales-Garcia, J.A.

Author_Institution

Carrera de Ing. Electron., Univ. Politec. Salesiana, Cuenca, Ecuador

fYear

2015

fDate

2-4 Feb. 2015

Firstpage

322

Lastpage

326

Abstract

In the world, the human robots being a important part in the relationship between human-machine. In this context, a study and design to implementation of a biped robot that is focused in a mathematical modeling and analysis of direct and kinematic, using matrix techniques proposed by Denavit and Hartenberg (DH). In the first part only legs are implemented using digital servos motors without feedback signals. Is necessary to use a high performance driver to control of biped robot, in this case an Arduino DUE are used for this propose. The results show a high performance of mathematical modeling when the walking surface is flat, but when the walking surface change the performance is no good.

Keywords

feedback; legged locomotion; matrix algebra; motion control; servomotors; stability; Arduino DUE; Denavit-Hartenberg matrix technique; biped robot design; digital servomotor; feedback signal; human-machine relationship; stability analysis; walking process; walking surface; Arduino Module; Biped robot; Denavit and Hartenberg; Walking Process;

fLanguage

English

Publisher

ieee

Conference_Titel

Young Researchers in Electrical and Electronic Engineering Conference (EIConRusNW), 2015 IEEE NW Russia

Conference_Location

St. Petersburg

Print_ISBN

978-1-4799-7305-7

Type

conf

DOI

10.1109/EIConRusNW.2015.7102289

Filename

7102289