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Biped Robot - Technical Presentation

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Based on Arduino 2560.
Hitec Servos
Video on:
http://youtu.be/8xv1Oc9bSEA

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Biped Robot - Technical Presentation

  1. 1. BIPED ROBOT Guide : Dr. Jisha V. R. Student Members : Syamprasad K. R. Vaisakh P. Alfaz A. Muloof P. 1 COLLEGE OF ENGINEERING, TRIVANDRUM ELECTRICAL & ELECTRONICS ENGG.
  2. 2. Objective  To design a Bipedal Walking Robot which attains stability autonomously. 2
  3. 3. 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. 3
  4. 4. Block Diagram 4 Box encasing the electronic circuit Hip servos Knee servos Ankle servos
  5. 5. Methodology  The entire walking cycle has been divided into different steps: i) Lift phase ii) Transfer phase iii) Landing  Vukabratovic’s Idea 5
  6. 6. The Biped 6
  7. 7. Challenges  Selection of Servo Torque for various joints  Power Supply Current Requirement of 6 servos  Aluminium Built Clamps- their orientation and joints, screws, washers 7
  8. 8. Challenges  Mechanical Stability of Structure Autonomous Stabilization Proper Calibration of Angles Timing of all Servos  Platform And Coding Initially coded in PIC Shifted to Arduino Platform 8
  9. 9. Components  Arduino Mega 2560  Servo Motor Hitec HS 645MG HS 5495 BH  Regulator ICs 7805 7806 9
  10. 10. Components  Aluminium Clamps C-short C-long L clamp  Aluminium and Iron plates  Power Source 9v Duracell (Alkaline) 12v, 5AAC to DC Adapter 10
  11. 11. Servos  Torque Calculation 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 11
  12. 12. Servos  Hitec HS 645 MG Ultra Torque Torque : 7.7 Kgcm(4.8v) 9.6 Kgcm(6.0v) Speed : 0.2 sec/60 deg  Hitec HS 5495 BH Torque : 6.4 Kgcm(6.0v) Speed : 0.17 sec/60deg 12
  13. 13. Controller 13  Microcontroller : Atmega2560 (Arduino Mega 2560)  Operating Voltage : 5v  Input Voltage : 7 -12v  Digital Pins : 54  Analog Pins : 16  PWM : 15  Flash Memory : 256 KB  Clock Speed : 16 MHz
  14. 14. Basic Servo Control Circuit 14
  15. 15. Algorithm  Access servo library from Arduino.  Define servo object.  Assign and initiate Servo Pins.  Set angle either through code or through analog input.  Scale the input , if necessary, and write it to servo pin.  Call required delay. 15
  16. 16. Implementation  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 mounting. 16
  17. 17. Implementation  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 position. 17
  18. 18. Completed Project 18
  19. 19. Road Ahead  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 19
  20. 20. References  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. 20
  21. 21. 21 THANK YOU!!

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