Design, construction and analysis of biped robot for walking motion

Jim , Kai Yiat (2014) Design, construction and analysis of biped robot for walking motion. Project Report. UTeM. (Submitted)

Text DESIGN, CONSTRUCTION AND ANALYSIS OF BIPED ROBOT 24pages.pdf Download (476kB)

Abstract

This report emphasize on the design, construction and analysis of biped robot for walking motion. This study is important since humanoid robots have been developed for a long period of time which benefits human in terms of aiding orthosis and prosthesis, understanding human body, creating human assistance and improving entertainment field. Therefore, development of biped robot would be the first step in completing this approach. Besides, the objectives of this project are to design and develop a biped robot with humanlike motion capability controlled by Arduino microcontroller and to analyse the biped robot walking motion by static motion sequence and joint angle. The literature review focuses on the design and basic construction of the biped robot including the walking analysis. Similarly, the execution of the project is separated into biped robot construction in FYP1 and analysis in FYP2. Moreover, the methodology of this project is to design the robot structure using SolidWorks, design the electrical and electronic configuration using Proteus ISIS, stability study and controller application. Parameters such as servo motor angle of rotation, center of mass and static walking motion are obtained and analysed in terms of the capability to achieve stable forward walking motion. Error analysis and trajectory analysis will be carried out to see the performance of the biped robot walking motion as compared to the actual human walking motion. Lastly, the outcome of this project is a functional biped robot with capability of walking forward in a smooth surface using static walking motion.

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