3D Printed Biped Walking Robot

2015 ◽  
Vol 772 ◽  
pp. 477-481 ◽  
Author(s):  
Tadeusz Mikolajczyk ◽  
Alberto Borboni ◽  
Xian Wen Kong ◽  
Tomasz Malinowski ◽  
Adrian Olaru
Keyword(s):  
Control System ◽  
Degree Of Freedom ◽  
Prototype Model ◽  
Walking Robot ◽  
Biped Walking ◽  
Flat Surfaces ◽  
Simple Idea ◽  
Centre Of Gravity ◽  
3D Printed ◽  
Biped Walking Robot

The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elaborate our own simple idea of a 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs, which is composed of vertical moved legs with a rotary foot and a controlled mass for stabilizing. In this paper, based on the former idea, a prototype model of a 3-DOF walking robot is presented for walking only on flat surfaces. This walking robot is actuated by servo motors. The paper covers the kinematics, centre of gravity analysis, description of the robot and its control system made using Pololu controller. Experiments confirmed the feasibility of the proposed design.

Prototype Model of Walking Robot

2014 ◽  
Vol 613 ◽  
pp. 21-28 ◽  
Author(s):  
Tadeusz Mikolajczyk ◽  
Tomasz Fas ◽  
Tomasz Malinowski ◽  
Łukasz Romanowski
Keyword(s):  
Control System ◽  
Flat Surface ◽  
Degree Of Freedom ◽  
Prototype Model ◽  
Walking Robot ◽  
Flat Surfaces ◽  
Simple Idea ◽  
Centre Of Gravity

The purpose of this paper is to elaborate not on the bionic pattern of walking robot. Our own simple idea of 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs was made using vertical moved legs with rotary foot and additional controlled mass. In this paper, based on former idea, prototype model for only flat surface walking task 3 DOF were presented. Parts of the robot are moving thanks to servo motors. The paper contains kinematics and centre of gravity analysis, presentation of robot and its control system made using Pololu controller. Conducted experiments confirmed presented idea.

Modeling and Control System Simulation for 7-Link Biped Robot

2013 ◽  
Vol 431 ◽  
pp. 262-268
Author(s):  
Chuang Feng Huai ◽  
Xue Yan Jia
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Biped Robot ◽  
Stable Region ◽  
Walking Robot ◽  
Biped Walking ◽  
Modeling And Control ◽  
Ground Conditions ◽  
Biped Walking Robot ◽  
And Control

Walking robot has complicate structure and strong ability to adapt ground conditions, and it is difficult to control. To realize dynamic walking of the humanoid robot, we have to establish robot dynamic models, design the control algorithm for gait and the stability postures. In this paper, study dynamic model and control system of a 7-links biped robot, build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.

Swizzle Movement for Biped Walking Robot Having Passive Wheels

2008 ◽  
Vol 20 (3) ◽  
pp. 413-419 ◽  
Author(s):  
Kenji Hashimoto ◽  
◽  
Yusuke Sugahara ◽  
Hun-ok Lim ◽  
Atsuo Takanishi ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Reaction Force ◽  
Internal Force ◽  
Walking Robots ◽  
Rough Terrain ◽  
Walking Robot ◽  
Biped Walking ◽  
Reference Position ◽  
Flat Surfaces ◽  
Biped Walking Robot

Biped walking is easily adapted to rough terrain such as stairs and stony paths, but speed and energy efficiency on flat surfaces is less effective than wheeled locomotion. We propose new control for swizzling by biped walking robots using inline skates. Swizzling uses friction force generated by regular passive wheel movement. Our proposal is based on the reaction force on the foot, and new reference position is changed based on reaction force not to be large internal force. Through hardware experiments, the effectiveness of the proposed method was confirmed.

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