Bipedal walking robot(2L2v1)

Japanese

Abstract

This is my second biped robot. I build this robot to enjoy programming of the robot that has high DOF and the combination of sensing and motion / action. This robot equipped with 16 RC servomotors (12 for legs) and 2 micro-controllers. They are powered by internal battery. This robot can be controlled like RC model car. I am planning to fit external sensors like CCD camera, distance sensor etc. to try autonomous action. But only internal sensors for attitude control are equipped now.

Movie

	Walking forword:2002.12.15 The robot is walking forward. The step rate is 70mm/1.25sec. (120 kbyte Mpeg File)
	Stepping aside:2002.12.07 The robot is stepping aside. The step rate is 30mm/2.0sec. (120 kbyte Mpeg File)

Photo


Separate to carry	Hatch opening	Wiring of left leg	Parts for the leg	Junction PCB	Backside of the body

Backside of the body	Fitting of right leg	Around the right foot

The material for the structural parts(white parts) is made from styrene resin plate.

Statistics

Hight	380mm
Length	217mm
Width	181mm
Weight	1830g(without PC)
Actuator	Servo motor for RC model
Battery	6.0V/700mAh Ni-MH battery(For power system) 7.2V/1500mAh Li-ION battery(For control system)
Sensor	GWS PG-03(gyro) ---2 ADXL202(acceleration) ---1
CPU	Win98 PC Duron 1GHz(Not included to the robot) Hitachi H8/3067F 20MHz Hitachi H8/3664F 16MHz

Software environment

The software for the PC plans the path for the legs and calculates the data set of the angle for each of the joints. And the software for the micro controller generates the signals to drive RC servo motor and collect data from the sensors and send them back to PC in case that the robot is connected to PC.

I am also using Microsoft Visual Bacic Ver.6 to deverop the support program that need graphic interface. This is mainly for testing.

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Visitor Number Jan.2003