Title
Construction and Control of the Bipedal Walking Robot
Authors
[ 1 ] Instytut Technologii Mechanicznej, Wydział Budowy Maszyn i Zarządzania, Politechnika Poznańska | [ 2 ] Instytut Technologii Mechanicznej, Wydział Inżynierii Mechanicznej, Politechnika Poznańska | [ SzD ] doctoral school student | [ P ] employee
Scientific discipline (Law 2.0)
Year of publication
2019
Published in
Article type
scientific article
Publication language
english
Abstract
EN This article describes the design and testing of a walking robot. In the first stage, the mechanical behaviour of human’s lower limbs during the walk was observed and described to acquire data for the development of a simplified algorithm to control the legs of a walking robot. The second phase was the designing stage of the bipedal walking. Each robotic leg was equipped with six servo-drives. A gyroscope module with an accelerometer was used to measure the current position of the robot’s structure in space. The controller of a walking robot was developed and programmed based on Arduino Mega. The control algorithm stabilises the robot in an upright position. Potentiometers placed in the axes enabled measurements of angular positions of individual servos during the movement and were used to control walking. The programming of the movement is done through a smartphone which communicates with the robot's main controller using Bluetooth. Finally, the article describes the testing of the developed bipedal walking robot, documenting satisfactory results in walking.
Date of online publication
14.01.2019
Pages (from - to)
02009-1 - 02009-6
Comments
Article number: 02009
License type
CC BY (attribution alone)
Open Access Mode
open journal
Open Access Text Version
final published version
Full text of article
Access level to full text
public
Ministry points / journal
5
Ministry points / journal in years 2017-2021
5
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