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Design, fabrication and control of a two-legged walking robot

Design, fabrication and control of a two-legged walking robot,10.1109/ROMOCO.2004.240642,Yasar Ayaz,Bilal Afzal,Mannan Saeed

Design, fabrication and control of a two-legged walking robot   (Citations: 3)
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A 4-DOF (degrees of freedom) two-legged robot named NUSTBOT-I has been designed and built. The paper contains a description of the design and working of this robot, supported by mathematical analysis of its structure. The results obtained from this analysis have been applied for tracing the trajectory of the centre of gravity of the robot, as it walks. One of the main design objectives was the simplicity of its control algorithm. The robot shifts its centre of gravity by bending the upper part of its body sideways. It can perform basic walking and turning operations and is programmable for different applications even by users who do not have any technical knowledge about bipedal walking.
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    • ...variations inthelongitudinal stability margin fortheentire Robots following wavegaits [7-9] aswellasthose following gait, thusclearly outlining itsminimumvalue that guarantees free gaits [1-5] havebeenbuilt...
    • ...Thus overview ofthewavegait designed forMechatron-1, analysis thechoice ofthetypeofgait that amulti-legged robot shouldoflegmotion isusedtoplotvariations inthelongitudinal follow depends greatly ontheapplications that therobot is stability margin inSection 3,while thesalient features ofthe beingdesigned for.Forgeneral applications ineveryday control strategy arehighlighted inSection 4.Section 5 humanenvironments suchashomesandoffices, ...
    • ...Fig. 5.(a)FootExtension. (S1) foroneleg.(b) Variation infoot extension...
    • ...Since (2)hasbeenderived undertheassumption that only three legs aresupporting therobot atatime, itisincapable of 5-3CasO describing theAll-I state...
    • ...Onecanclearly seefromFig.3 that theproblem offinding the followed bytheAll- Istate (andthenthemaximaofLSM)as LSM isreduced tolocating theintersection point oftwolines canbeseenfromFig.5 (b)...
    • ...Forawave Fig.5 (b)also shows aspike inLSM immediately after the gaitrobotsuchasMechatron-1; itisnecessary for transition point...
    • ...AFThs saidmpreiuly,te controllaiectre halos bheedesigneto 10.5 correct andftly maintain theothly...
    • ...5 | Whenalegtouches theground, its Limit Switch (L51) causes 8 X/ theoutput ofoneFF,totoggle to'1', themicrocontroller 75 7 stops themotorofthatsideandthenwaits fortheFF1+1 ) 0 loo 150200250 soo s50 :t (corresponding toalegoftheother side) totoggle to'1' (where iis1or3foreither halfstep)...

    S. M. Mannanet al. Design and Development of a Six-Legged Robot with Simplified Control A...

    • ...‘Stability’ or ‘Balance’ of a biped robot at any point in its gait is determined using the ZMP criteria [5] which translates to a Centre of Gravity (COG) computation problem in case of static stability analysis [6], [7]...

    Yasar Ayazet al. HumanLike Approach to Footstep Planning Among Obstacles for Humanoid R...

    • ...Research studies [1] have been carried out to develop mathematical models for robot kinematics, motion and stability...
    • ...Construction and working of NUSTBOT-I, a four degrees of freedom (DOF) biped robot is described in [1]...
    • ...[Fig. 1] The total mass of the robot is 2.925 kg and the mass of the weight shifting arm (inverted pendulum) is 0.796 kg. [1] Two 6V-1.3Ah DC batteries are used connected in series as on board power supply for the robot...
    • ...As the linkage is of considerable length and the bending torque is having a reasonably large magnitude [1] so torsion effects are taken care of in the Bond-Graph model...

    Saheeb A. Kayaniet al. Modeling and simulation of biped kinematics using bond-graphs

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