biped robot - cerd presentation
TRANSCRIPT
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BIPED ROBOT Principal Investigator : Dr. Jisha V. R. Student Investigator : Syamprasad K. R. Vaisakh P.
Alfaz A. Muloof P.
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COLLEGE OF ENGINEERING, TRIVANDRUM
ELECTRICAL & ELECTRONICS ENGG.
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Objective
To design a Bipedal Walking Robot which attains stability autonomously.
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The Biped Robot Obtaining human-like robotic walking
has been a long standing goal of robotic locomotion.
Key principle is ZMP (zero moment point) The idea is that, in order to attain stability, the stationary leg should have no net torque acting on it.
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Block DiagramBox encasing the electronic circuit
Hip servos
Knee servos
Ankle servos
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MethodologyThe entire walking cycle has been divided into different steps: i) Lift phase ii) Transfer phase iii) Landing
Vukabratovic’s Idea
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Methodology Gravity And Inertial Forces Rgi=mg – mag ;
m-Total mass ag-Acceleration of CoM. Moment about any point Q. MQ=QG x mg – QG X mag – Hg; G-CoM Hg-Rate of angular momentum
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Methodology Axis ∆1 – any existing moment would
be parallel to normal vector of the surface, at every point of axis.
The ZMP lies at the intersection of ground plane and ∆1.
MZ=ZG x mg – ZG x mag -Hg
The upper body is moved such that the ZMP remains at the middle of stationary leg’s sole.
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Budget Equipment
Rs.25590/- Research Literature
Rs.2530/- Consumables
Rs.4100/- Travel
Rs.1000/- Other
Rs.9428/- Contingencies
Rs.3966/- Total Rs.46614/-
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Budget Equipment
PIC16F877A Rs.170x2=Rs.340 PCB Rs.160 PIC Programmer Rs.2500 Servo Motor Rs.1666x10=Rs.16660 (MG-995, 15 kgcm) Rechargeable Cell Rs.625x8=Rs.5000 (GP, NiMH, 1.2v) AC Adapter (230v AC to 9v DC) Rs.500
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Budget Equipment(contd..)
Other ICs Rs.250
Motor Driver(L293D) Voltage Regulator(7805,7806) Other Components
Rs.180 (Oscillators, LEDs, Resistors, Switches etc.)
Total Rs.25590
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Budget Research Literature
Mobile robotics -Dudek Gregory Rs.740
Robotics Modelling, Planning Rs.790
-Sicialiano Robotic control, sensing and vision
Rs.1000 - Fu
Total Rs.2530
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Budget Other
Aluminium Sheet Rs.1000
(Area: 2.5 m^2 Thickness: 3 mm) Fabrication
Rs.5500 Battery Charger
Rs.2928 (ANSMANN 5707063) Total
Rs.9428
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References M. Vukobratovic and D. Juricic,
“Contribution to the synthesis of biped gait,” IEEE Trans. Biomed. Eng., vol. 16, no. 1, pp. 1–6, 1969.
Philippe Sardain and Guy Bessonnet, “Forces Acting On A Biped Robot. CoP-ZMP,” IEEE Trans. Systems, Man And Cybernatics. ,Vol 34, no 5, Sept. 2004.
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THANK YOU!!