Development of Biped Robot with Backdrivablity

Pawde, D J (2014) Development of Biped Robot with Backdrivablity. Masters thesis, Indian Institute of Technology Hyderabad.

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Abstract

Biped robots are used in defense, space explorations, personal assistance and many more. Thus the study of their walking gait is important. The focus of this thesis is to develop a planar biped robot with backdrivable joints so that any mismatch in trajectories and the environment leading to impact can be absorbed without losing stability. For this purpose, we first start with static walking gait co-simulation with Working Model-2D and MATLAB. The walk cycle is divided into 12 number of steps. A smooth trajectory is calculated. MATLAB calculates the joint angles at each time step and Working Model 2D executes that joint angles in the simulation. Later a simple 7 link biped model is considered for the simulation and then made it to walk on ground by applying torques at hip and stance leg ankle. The walking simulations are done in MATLAB. Forward dynamic analysis is used to get the simulation. Torque is applied stance leg ankle, hip and the desired motion is generated. Ground reaction forces are calculated at front and rear leg. In the third part a biped robot is manufactured using FDM technique. 6 Actuators are used at each joints which are backdrivable. The Actuators are controlled using Arduino Mega 2560. The calculated trajectories are applied to the actuators using PD control to get the desired motion.

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