Tuesday, January 27, 2009

2 Legs Robot 4

Biped Robot (FKS1)
Redesign and built the sole and lower portion of the legs. I also
repositioned the legs so that the separation become smaller,
ensure better stability. Painted the machine to make it looks more
professional. All the electronics have now been ported to
surface-mounted components platform, thus reducing the overall
weigth. The machine can now walk continuosly, albeit a little bit
shaky at times. Nevertheless I have not installed any sensors yet.
In the process of selecting suitable sensors and designing the
electronic circuitry. Moreover I am also upgrading the Robot's
software in my spare time.


Biped robot research at MEL

Walk of Meltran II. One step is 12cm and average walking speed
is about 0.5km/h. The strategy of control is to keep body height
constant at every moment of walking. This makes walking control
simpler than former walking control algorithms.


Mech 1.0

The mechanical design process was completed with Solidworks,
designed with only shapes that I knew were simple to machine using
extruded metals obtainable at the local hardware stores. As you can
see there are no feet, yet, but the first programming challenge will be
to write the algorithms that control each servo actuator to implement
the walking cycle.


Development of a walking robot model and its data-based
modeling and control

Walking robots offer challenging problems in the field of system
modeling and control. The mechanical structures of the walkers
are usually complex, being composed of many joint-connected
parts which impact also with the surrounding environment.
Therefore the mathematical models easily appear to be highly
nonlinear and high-dimensional preventing the effective use of
traditional modeling and control methods.


Iron Man Walking Rc Robot and 2 Legs Robot Book

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