Design And Construction Of A Simple Bipedal Robot With Obstacle Avoidance System

Wong, Zhe Ming (2016) Design And Construction Of A Simple Bipedal Robot With Obstacle Avoidance System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text (24 Pages) Design And Construction Of A Simple Bipedal Robot With Obstacle Avoidance System.pdf - Submitted Version Download (336kB)

Abstract

The main objective of this project is to design and construct a simple bipedal robot with obstacle avoidance system by using Arduino microcontroller board and Dynamixel AX-12A servo as actuators. The developed bipedal robot consists of 8 Degree of Freedom which capable of walking in three dimensional motions (walking forward, turning left and turning right). The design aspects cover the use of inverse kinematic method to determine the joint parameters of 8 servos for walking algorithm, the simple design of the turning algorithm without using the yaw joint and the code generation of the joint parameters of 8 servos on every time interval. List of experiments is done to design and construct the bipedal robot. The experiments done included developing a half-duplex UART system to interface Arduino board and Dynamixel servo, interfacing obstacle avoidance system with Arduino microcontroller, studying the relationship of roll angle and the stability of the bipedal robot and implement the walking and turning algorithm into the bipedal robot. The results for all the experiments is tabulated and analyze to study the performance of the developed system and the bipedal robot in practical. The trajectory graph and graph of angle variation for every servo of the bipedal robot is analyzed. The study of the performance of the bipedal robot with its obstacle avoidance system also shown in this thesis. The results shown that the off-line walking algorithm for bipedal robot is not sufficient enough to create a smooth walking cycle, the walking pattern is somehow unstable due to limitation of the microcontroller and the servo motor.

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