BIPED ROBOT Principal Investigator : Dr. Jisha V. R. Student Investigator : Syamprasad K. R. Vaisakh P.

Alfaz A. Muloof P.

1

COLLEGE OF ENGINEERING, TRIVANDRUM

ELECTRICAL & ELECTRONICS ENGG.

Objective

To design a Bipedal Walking Robot which attains stability autonomously.

2

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.

4

Block DiagramBox encasing the electronic circuit

Hip servos

Knee servos

Ankle servos

5

MethodologyThe entire walking cycle has been divided into different steps: i) Lift phase ii) Transfer phase iii) Landing

Vukabratovic’s Idea

6

Methodology Gravity And Inertial Forces Rgi=mg – mag ;

m-Total mass ag-Acceleration of CoM. Moment about any point Q. MQ=QG x mg – QG X mag – Hg; G-CoM Hg-Rate of angular momentum

7

Methodology Axis ∆1 – any existing moment would

be parallel to normal vector of the surface, at every point of axis.

The ZMP lies at the intersection of ground plane and ∆1.

MZ=ZG x mg – ZG x mag -Hg

The upper body is moved such that the ZMP remains at the middle of stationary leg’s sole.

Budget Equipment

Rs.25590/- Research Literature

Rs.2530/- Consumables

Rs.4100/- Travel

Rs.1000/- Other

Rs.9428/- Contingencies

Rs.3966/- Total Rs.46614/-

8

9

Budget Equipment

PIC16F877A Rs.170x2=Rs.340 PCB Rs.160 PIC Programmer Rs.2500 Servo Motor Rs.1666x10=Rs.16660 (MG-995, 15 kgcm) Rechargeable Cell Rs.625x8=Rs.5000 (GP, NiMH, 1.2v) AC Adapter (230v AC to 9v DC) Rs.500

10

Budget Equipment(contd..)

Other ICs Rs.250

Motor Driver(L293D) Voltage Regulator(7805,7806) Other Components

Rs.180 (Oscillators, LEDs, Resistors, Switches etc.)

Total Rs.25590

11

Budget Research Literature

Mobile robotics -Dudek Gregory Rs.740

Robotics Modelling, Planning Rs.790

-Sicialiano Robotic control, sensing and vision

Rs.1000 - Fu

Total Rs.2530

12

Budget Other

Aluminium Sheet Rs.1000

(Area: 2.5 m^2 Thickness: 3 mm) Fabrication

Rs.5500 Battery Charger

Rs.2928 (ANSMANN 5707063) Total

Rs.9428

13

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.

14

THANK YOU!!