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Data Sheet For Robot

DOFs 6
No. of Links 7
Size (H x W) 0.3m x 0.15m
Weight approx. 2.5kg
Power Source External
Actuators DC Servo-Motors

 

The objective of this project is to design and fabricate of a small (about 0.5m tall) planar bipedal robot. This means that the motion of the robot will be constrained in the sagittal plane.

This robot will have 3degrees-of-freedom (namely: hip, knee and ankle) at each leg. Each DOF is a pin joint actuated by a DC servo-motor. A digital encoder will be attached to each joint to provide the joint angle information. A rate gyro will be used to provide the pitch angle of the body. A desktop PC will be used to control the robot.

This robot will eventually be a test-bed to evaluate bipedal walking algorithms.

 

Current Project Status

Currently, the robot has been fabricated. Testing is being conducted on the robot to test various parts - motor, controller, and mechanism.

 

Videos [New Videos Added!!]

Robot in Action [Video-2D]

 

Mechanical parts of the robot prior to assembly.

The compass (tilt sensor) that's being used on this robot.

Modified DC Servomotor obtained off-the-shelf from hobby shops. These motors are usually used in remote-controlled aeroplanes and other hobbies.

Picture of a half-completed robot, with the designer in the background.

Another picture of the robot.

Front view of completed robot.

Side view of completed robot.