Two Legged Robot Simulation and Development

Abstract

Robot are becoming more and more ubiquitous in our life, but still Humanoids (robots like humans) are in their development phase and much of the research is being carried out by many companies and instituted for enhancing various capabilities of humanoids. Walking is the most difficult task to be carried out by a humanoid because it has to balance it self during walking. So developing a two legged robot is a beginning which would ultimately lead to development of a humanoid. In this project a two-legged robot has been designed. The robot has 10-Degrees of Freedom (DOF) in total, for each Leg 2 DOF in Ankle Joint, 1 DOF in Knee joint and 2 DOF in Hip Joint. The height of the robot is approximately 600 cm and weight is approximately 6.85 Kg. Robot has open loop control system since stepper motors are used as actuators. Simulator has also been developed which simulates all the joint movements of the robot under development. Simulator also implements forward kinematics and the analysis of torque requirements of all the joints. The torque required by each joint for carrying out various tasks can also be computed. It also shows the projection of the Centre of Gravity along with top view of the robot which can be used to view the stability of the robot. Simulator also includes an Application Specific Compiler (ASC) which allows the user to write program in high level language which is compiled to low level (Assembly) code for the target microcontroller (89S52) and high level code is also simulated by the simulator.