Walker

By shahzaib Ali

Servo actuated bipedal walking robot

I chose the task of building a bipedal walking robot because I am deeply interested in exploring the complexities of human-like movement in robots. Bipedal robots present an exciting technical challenge, particularly in the field of robotics, where combining mechanical design, control systems, and motion planning requires a comprehensive understanding of multiple disciplines. This project allows me to apply the knowledge I¡¯ve gained in courses like "Control of Manipulators and Mobile Robots" and "Introduction to Robotics," while gaining practical experience with advanced control techniques for servo motors.

I am also particularly interested in the application of servos such as the Dynamixel AX-12 and AX-18, as they offer high precision and reliability in robot movements. By working with these types of actuators, I can learn more about kinematics, dynamics, and real-time control systems in practice.

This task represents a unique opportunity to connect theory with practical application, while challenging myself to build an autonomous system capable of walking, which is a significant step toward understanding and designing more complex robots in the future.

2) Goals

The objective of this project is to design, build, and program a bipedal walking robot that focuses primarily on forward locomotion. Using servos for joint actuation, the robot will achieve efficient walking while leveraging the ROBIN walking hub to maintain balance.

3) Sketch

The robot will have two legs with a minimal degrees of freedom (DOF) design. The focus will be on achieving a smooth forward motion. Microcontroller will be mounted on the front of the robot and the battery pack on the back.

Dynamixel AX-18 servos: The actuators for the hip joints will be located at the top of the legs and will handle the forward and backward movement needed to lift and swing the legs forward.

Dynamixel AX-12 servos: The actuators for the knee joints are placed at the knees, allowing for bending and straightening.

No Ankle Actuators: Since balance is managed by the ROBIN hub, ankle actuators are unnecessary.

How the Robot Will Move: With the ROBIN hub managing balance, the robot's locomotion will focus on a gait cycle where the hip and knee joints move in coordination to lift and swing the leg forward. The hip joint initiates the leg lift, while the knee bends to clear the foot from the ground. After the leg reaches the forward position, the knee straightens to place the foot back on the ground.

4) Bill of materials