Overview
This project aims to develop a bipedal robot, a two-legged robotic system designed to replicate human gait dynamics. Here, the robot’s movement is controlled by precise limb positioning through inverse kinematics, while stability is maintained by managing the center of mass during walking. This project focuses on executing stable bipedal locomotion, with an emphasis on kinematics and balance control.
Approach
Task 1: Forward and Inverse Kinematics (FK/IK) of a Manipulator Arm in XY Plane
Forward Kinematics (FK):
Constructed and used the Denavit-Hartenberg (DH) table for the manipulator.
Implemented the DH transformation matrix to compute the end-effector position.
Inverse Kinematics (IK):
Developed a function to calculate joint angles for a given end-effector position using the DH table and transformation matrices.
Results:
Task 2: Simulating a Manipulator Arm in XYZ Plane
Explored methods for simulation: DH method, closed-form solution, numerical analysis, and geometrical approach.
Used the geometrical method to simulate a 3DoF arm manipulator following sine wave and linear trajectories.
Accurately determined IK parameters and visualized the manipulator’s motion using matplotlib.
Results:
Project Implementation
- We decided to make 2Dof manipulator as Bipedal Robot legs.
- Formed the inverse kinematics equations and solved them on the Sinusoidal trajectory followed by retracment of Straight Line trajectory backwards.
Design
We used Autodesk Fusion 360 Software to create the CAD model for our 2DoF robot.
Electronic Components
We used 3 main components in our project.
| Component | Application |
|---|---|
| Arduino UNO | Used Arduino UNO to connect all electronic equipments. |
| Servo motors | Placed 6 servos with 3 servos on each leg: one in hip, one in knee and one in foot (to balance the COM while the robot is walking). |
| PCA9685 | Used PCA9685 (with a 5V power supply) to connect and power multiple servo motors easily. |
Final Implementation
Team Members
Mentors