Guide : Dr. Jisha V. R.
Student Members : Syamprasad K.
Muloof P. 1
COLLEGE OF ENGINEERING, TRIVANDRUM
ELECTRICAL & ELECTRONICS
To design a Bipedal Walking
Robot which attains stability
The Biped Robot
Obtaining human-like robotic walking has been a long
standing goal of robotic locomotion.
Key principle is ZMP (zero moment point)
The idea is that, in order to attain stability, the stationary
leg should have no net torque acting on it.
Box encasing the
The entire walking cycle has
been divided into
i) Lift phase
ii) Transfer phase
Aluminium and Iron plates
9v Duracell (Alkaline)
12v, 5AAC to DC Adapter
Weight of L clamp = 8.8 g
Weight of Long C clamp = 23 g
Weight of Short C clamp = 16.2 g
Weight of Foot = 35.1 g Aluminium +
109.3 g Iron
Weight of Platform and Load = 250 g
Total(including allowance) = 600 g
Distance of CoF from Torque end = 15 cm
Max. Torque required = 0.6*15 = 9 Kgcm
Access servo library from Arduino.
Define servo object.
Assign and initiate Servo Pins.
Set angle either through code or through
Scale the input , if necessary, and write it
to servo pin.
Call required delay.
Various combination of clamps were used
to implement the mechanical structure.
The servos are seated on universal servo
brackets and the servo discs are fastened
using brake wire.
All the servos were checked and their
zero deg. Positions were marked prior to
The circuit was implemented and was
calibrated by checking the maximum
angle at which the ZMP remained at the
centre of foot.
The ZMP check was done using
Potentiometer input for servo control, and
in few cases, manually changing the servo
A surveillance camera can be mounted on
the top of it.
Walking assistance in the case of
Paralysis or Muscular Breakdown.
Manoeuvrability on multiple terrains
M. Vukobratovic and D. Juricic,
“Contribution to the synthesis of biped
gait,” IEEE Trans. Biomed. Eng., vol. 16,
no. 1, pp. 1–6, 1969.
Philippe Sardain and Guy Bessonnet,
“Forces Acting On A Biped Robot. CoP-
ZMP,” IEEE Trans. Systems, Man And
Cybernatics. ,Vol 34, no 5, Sept. 2004.