Biped robot designing and interfacing

The designing of a biped robot is the most challenging because of the inherent stability. However a walking robot has advantages over the wheeled robots. Although wheeled robots are commonly used, they only have limited ability to move to any destination. They suffer from the difficulties when travelling over uneven and rough terrains. In this work an attempt has been made to develop a prototype below hip a legged robot. The robot has 8 degree of freedom (DoF) in total that allow imitation of various human gaits. The conceptual design of the biped is done using SolidWorks and the simulation is done by using M.Sc ADAM The prototype design is initially developed in SolidWorks. The bipedal motion is simulated using M.Sc ADAMS software for mechanical system simulation. Aluminum is used for the fabrication. The robot uses 8 servo motors for actuating the various joints of the biped. The total weight of the biped is 1.15 kg and the motors are capable of delivering 1.6 Nm torque. The biped is interfaced with the controller available with Robix Rascal kit and by using the RobixR software to move the biped.

Autorentext

I had completed my Masters in Mechatronics from VIT University,Vellore and Bachelors in Mechanical Engineering from PVPSIT,Vijayawada.I dedicate this book to my parents Sri Lakshmisubbarao Gelli and Hemavaralakshmi Gelli for there continuous cooperation to complete my thesis and my Division Leader of Mechatronics.