MATEC Web Conf.
Volume 252, 2019III International Conference of Computational Methods in Engineering Science (CMES’18)
|Number of page(s)||6|
|Section||Application of Computer Programs in Technology|
|Published online||14 January 2019|
Construction and Control of the Bipedal Walking Robot
Poznan University of Technology, Department of the Mechatronics Devices, 61-138 Poznań, Jana Pawła II 24, Poland
* Corresponding author: firstname.lastname@example.org
This article describes the design and testing of a walking robot. In the first stage, the mechanical behaviour of human’s lower limbs during the walk was observed and described to acquire data for the development of a simplified algorithm to control the legs of a walking robot. The second phase was the designing stage of the bipedal walking. Each robotic leg was equipped with six servo-drives. A gyroscope module with an accelerometer was used to measure the current position of the robot’s structure in space. The controller of a walking robot was developed and programmed based on Arduino Mega. The control algorithm stabilises the robot in an upright position. Potentiometers placed in the axes enabled measurements of angular positions of individual servos during the movement and were used to control walking. The programming of the movement is done through a smartphone which communicates with the robot's main controller using Bluetooth. Finally, the article describes the testing of the developed bipedal walking robot, documenting satisfactory results in walking.
© The Authors, published by EDP Sciences, 2019
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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