CHAPTER-1

INTRODUCTION
1.1 Aim of the Project
Locomotion, the ability of a body to move from one place to another, is a defining
characteristic of animal life. It is accomplished by manipulating the body with respect to
the environment. In the case of environments with discontinuous ground support, such as a
rocky slope, a flight of stairs, or the rungs of a ladder, it is arguable that the most
appropriate and versatile means for locomotion is legs. Legs enable the avoidance of
support discontinuities in the environment stepping over them. The main aim of this project
is to build a bipedal robot with a total of 6 DOF (degrees of freedom). This enables the
bipedal robot to mimic the human way of walking to most extent, thereby making the robot
to move in all kinds of terrains and also eliminating the need for a special environment for
the biped to work. The biped robot can adapt to the normal conditions of transportation
which have been designed for human beings and this enables the biped robot to be exposed
to a wide variety of applications. The control of the biped i.e the Gait to be performed by
the biped is instructed to itself by means of on-hands manipulation, backed by reverse
mapping.

1.2 Scope of the Project

The attention of the robotics community has been drawn more and more on humanoid
robots in the last years. This interest is not only motivated by the trend of designing robots
with human appearance, but also for the implications of their use in human environments.
They must be able to perform a wide range of different tasks in partially or completely
unknown environments. And, what is most interesting, they must able to cooperate and
probably communicate with humans in a variety of modes. The development of such
amount of different capabilities represents and ambitious and attractive research field for
many scientists. The mechanical design of a humanoid robot must be anthropomorphic not
only in their appearance but also in their capabilities. And this often implies that the
different parts must be light-weighted and highly versatile, that is, with a high number of
degrees of freedom. In addition, the development of humanoid robots results in the research
fields that otherwise would have a smaller area of application. An example of these, is the
development of anthropomorphic arm and hands, the development of stereo heads, and the
research on biped robots.
Probably the most exciting interest of humanoid robots is their intense interaction with
humans and their appropriateness for tasks in human-centered environments, due both to
their friendly appearance an their anthropomorphic design. But the exploitation of these
capabilities requires the development of novel control strategies, and, more interestingly,
more advanced human-robot cooperation and communication skills. Examples of the last
are learning by imitation, language acquisition, and gesture recognition, among others.

Biped robots represent a very interesting research subject, with several particularities and
scope topics, such as: mechanical design, gait simulation, patterns generation, kinematics,
dynamics, equilibrium, stability, kinds of control, adaptability, biomechanics, cybernetics,
and rehabilitation technologies. We have diverse problems related to these topics, making
the study of biped robots a very complex subject, and many times the results of researches
are not totally satisfactory. However, with scientific and technological advances, based on
theoretical and experimental works, many researchers have collaborated in the evolution of
the biped robots design, looking for to develop autonomous systems, as well as to help in
rehabilitation technologies of human beings.

1.3 Literature Survey

During the past three decades research and development in robotics has expanded
from traditional industrial robot manipulators to include autonomous and animal-like or
humanoid robots. Over the past two decades, the field of humanoid robotics has witnessed
significant advances. This development has been driven by improvements in actuator,
computer and other enabling technologies and guided by the vision of building machines
with (some) human-like capabilities. A machine with human-like appearance and
capabilities would be able to operate in all environments designed for humans, such as
factories, offices and homes. Also, interacting with humans using natural language and
gestures both simplifies the interaction for the human and decreases the psychological
barrier for the use of such machines in service applications. All this makes service robotics
one of the most promising application areas for humanoids, while the entertainment
3

industry is also exploring the potential of such machines. Even without high-level
intelligence, biped robots are potentially superior to wheeled or tracked vehicles in complex
and cluttered environments, since they can climb stairs or step onto or over large obstacles.
Building truly humanoid robots will require significant advances in areas including, among
others, high-level cognition, computer vision, speech synthesis, speech recognition,
manipulation and biped locomotion. Recent interest in humanoid robotics has spawned a
large number of research projects focusing either on individual problems or on systems
integration.
In the natural setting, locomotion takes on many forms, whether its the swimming
of amoebas, flying of birds, or walking of humans. The diversity of animal locomotion is
truly astounding and surprisingly complex.
The same is true in objects crafted by man: airplanes have wings that create lift for
flight, tanks have tracks for traversing uneven terrain, automobiles have wheels for rolling
efficientlyand robots are now walking on their own two legs! Moreover, legs are an
obvious choice for locomotion in environments designed for human walking, running, and
climbing.
To the extent that a machine equipped with two legs may imitate a humans gait,
bipedal robots are biomimetic. The appeal to biomimetic largely stops here. This is because
the material and components available to an engineer for creating a bipedal robot are quite
different from those provided by biology. For example, the engineer has at his disposal
metal instead of bones, motors instead of muscles, wires instead of nerves, and

microprocessors instead of a brain. In addition, there are differences in what quantities can
be sensed and the speed and accuracy with which they can be sensed. Just as important, the
operational expectations are different. Whereas we are accustomed to many years of
training required for a human to acquire a high degree of skill in locomotion related
activities (consider a baby learning to walk), and we expect ability to vary greatly from one
human to another (consider the sprinter Michael Johnson versus the average runner), we
expect that the functioning of machines be exactly reproducible and correct from the
moment they are turned on. We would be greatly disappointed in a car, for example, if the
automatic transmissions control system took many trials to learn how to smoothly shift
gears or to maximize the vehicles intended performance, whether that be speed of
acceleration or fuel economy. Similarly, we are disappointed in a legged robot whose
control system cannot deliver gaits that utilize the full capabilities of the machine, in terms
of elegance, speed, energy economy, and of course, stability.

Robotic Arms vs. Robotic Walkers

Many high performance robotic arms and hands have been developed for use in factories,
space, and research. It might seem to an outside observer that these technologies could be
exploited for use in a legged robot. Most of the time this is not the case. There are several
reasons why.

Fixed vs. Floating Reference

Robotic arms are generally fixed to an inertial reference frame (factory) or a body whose
mass is large enough that it can be considered fixed (spacecraft). A walking robot is not
fixed to any reference frame and has a limited set of torques which it can apply due to its
limited contact with the world.

On-board vs. Off-board

Robot arms can often place their heavy motors at their fixed end. Then the motors are only
responsible for moving the frame of the arm and not themselves. Because a walking robot
must carry all its components, the motors support themselves as well as the structure of the
robot. Carrying power is also an issue for walking robots although most are tethered due to
battery limitations

Environmental Awareness
Robot arms are not usually expected to perform in unknown situations. They generally are
designed for specific working conditions and their ability to handle unexpected
disturbances is limited. Ideally, walking robots are supposed to handle rough and unknown
terrain.

Success Metrics
Robotic arms are often judged on their ability to position their end effectors precisely.
Robotic walkers are usually not judged on their ability to position precisely but rather on
their ability to get from Point A to Point B without falling down.

Impacts
Most robot arms are not designed to handle impacts. Walking, however, has an impact at
every touchdown.

Why Bipedal Robots

Bipedal robots form a subclass of legged robots. On the practical side, the study of
mechanical legged locomotion has been motivated by its potential use as a means of
locomotion in rough terrain, or environments with discontinuous supports, such as the
rungs of a ladder. It must also be acknowledged that much of the current interest in legged
robots stems from the appeal of machines that operate in anthropomorphic or animal-like
ways (we have in mind several well-known biped and quadruped toys). The motivation for
studying bipedal robots in particular arises from diverse sociological and commercial
interests, ranging from the desire to replace humans in hazardous occupations (de-mining,
nuclear power plant inspection, military interventions, etc.), to the restoration of motion in
the disabled (dynamically controlled lower-limb prostheses, rehabilitation robotics, and

functional neural stimulation).As a result, only slow motions may be achieved. Truly
dynamic motions, such as balancing, running or fast walking, are excluded with these
approaches.

1.4 Organisation of the project

The presented project is organised with 9 main chapters. Chapter 1 gives an
overview of the aim of the project, scope of the project, literature survey and the
organisation of the project thesis. Chapter 2 deals with the Biped terminology, walking
phases and strategies. Chapter 3 gives the detailed description on the design parameters.
Chapter 4 deals with the Modelling methodology of the Biped where Gait and the walking
cycle are explained. Chapter 5 gives the information on the specifications the mechanical
parts and electronics used in this project. Chapter 6 deals with the process of assembling
the Biped robot. Chapter 7 describes the software programming and operation of the biped.
Chapter 8 discusses the applications of Bipedal robots in different fields. Chapter 9 gives
the conclusion. Chapter 10 gives a brief overview of the future scope of the Biped robots.

CHAPTER-2
BIPED TERMINOLOGY

2.1 Terminology
Biped is a very interesting area of robotics where the various attributes of the
mechanism are influenced from the human behaviour of walking. Many aspects of modern
life involve the use of intelligent machines capable of operating under dynamic interaction
with their environment. Bipedal are Hyper DOF system (>20) with Complex Kinematics
and Dynamics which are also complex real-time control architecture. Complexity limits the
trajectory tracking of ease. Conventional control algorithms for humanoid robots can run

into some problems related to Mathematical tractability, Optimisation, Limited

extendibility, Limited biological plausibility.

Generally the movement on the land so far has been achieved in three ways-the
legs, wheels, tracks. Though there are various advantages like speed to the transport by
wheels and tracks they prove to be disadvantageous in the rough terrain and when they
meet the obstacles. When they meet an obstacle the axle should be at least a little high than
the height of the obstacles and in case where the wheeled vehicles are supposed to go uphill
their movement is restricted by the max torque capacity of the vehicle. In the above cases
the only way of overcoming these is the movement through legs. Tracks are said to have
greater balance in rough terrain too but their ability to turn at greater speeds Is considerably
less. Therefore, a new generation of robots called the bipeds have come into usage which
use the advantages of wheeled movement of having great speed and the use of legs to easily
overcome the obstacles.

Bipeds however, caught the eye of the specialists in the military research.
Considering the situations that are frequently met in military and defence operations the
vehicles or the medium of transport for the military equipment comes into picture. As result
many such vehicles are designed and implemented but all those necessaries are met at a
price of either sacrificing the speed or balancing itself. This problem has been solved by the
implementing the two technologies into a single robot called biped. Besides, having high

10

stability it also believed to achieve farther speeds with more advancements in the
technology.

Biped robot dynamics are mainly categorized into two divisions. First being the
static stabilization and the other being the dynamic stabilization. Static stabilization is
achieved through the COG based stabilization strategy whereas the dynamic stabilization is
achieved through the internal stabilization strategy.

2.1.1 Static Walking

In Static Walking the biped is made to walk very slowly so that the dynamics can be
ignored. The bipeds projected center of gravity should be within the supporting area. If the
above mentioned criteria is not followed or the biped modelling is not made in a correct
way where the bipedal robot center of gravity is not within the foot area of the planted foot
which is on the ground at that instant of the walking motion of the bipedal robot then the
biped will not have correct balance. Since, the walking motion of the bipedal robot is very
slow the impact of balance when on one foot is very critical and careful design has to be
made. However, if the design fails to follow them, then the biped will fall to the ground.
The main idea in designing a bipedal robot with static walking is by using the Center of
Gravity method.
11

Many studies on biped walking robots have been performed since 1970. During
that period, biped walking robots have transformed into biped humanoid robots through the
technological development. Furthermore, the biped humanoid robot has become a one of
representative research topics in the intelligent robot research society. Many researchers
anticipate that the humanoid robot industry will be the industry leader of the 21st century
and we eventually enter an era of one robot in every home. The strong focus on biped
humanoid robots stems from a long-standing desire for human-like robots. Furthermore, a
human-like appearance is desirable for coexistence in a human-robot society. However,
while it is not hard to develop a human-like biped robot platform, the realization of stable
biped robot walking poses a considerable challenge. This is because of a lack of
understanding on how humans walk stably. Furthermore, biped walking is an unstable
successive motion of a single support phase. Early biped walking of robots involved static
walking with a very low walking speed. The step time was over 10 seconds per step and the
balance control strategy was performed through the use of COG (Center Of Gravity).
Hereby the projected point of COG onto the ground always falls within the supporting
polygon that is made by two feet. During the static walking, the robot can stop the walking
motion any time without falling down. The disadvantage of static walking is that the
motion is too slow and wide for shifting the COG.

2.1.2 Dynamic Walking

In Dynamic Walking the biped can be moved at very high speeds and the dynamics are
taken into consideration. Unlike the static walking where the slow motion of the biped are
12

taken into consideration where modelling has to be done by taking the center of gravity of
the robot and then maintaining it in the required positions the dynamics of a bipedal robot
however do not take into account the center of gravity rather it takes the methodology of
the internal stabilizations where a feedback control loop is designed to give the information
about the bipeds position at every instant of the walking motion and the feeding it back to
the controller so that the controller then corrects its walking motion and maintains the
stability of the robot even in high speed conditions. This type of considerations requires
considerable mechanics and inverse kinematics to get the desired equations that can solve
the dynamics of the biped motion with high speed walking. Further, different kinds of
sensors can be accommodated with the bipedal robot to make it more compatible and
reliable like using the ultrasonic sensors to avoid obstacles etc.
Bipeds became an interesting topic and few applications of it are to use them as the
artificial legs for humans. Hence, this integration of different aspects of technology the
bipeds are most likely to find a huge number of applications in many diverse fields and also
in the evolution of multi-legged such as four legged robots which can work as a dog, six
legged robots to simulating the spider movements with much more dexterity and dynamic
stability.

Researchers thus began to focus on dynamic walking of biped robots. It is fast

walking with a speed of less than 1 second per step. If the dynamic balance can be
maintained, dynamic walking is smoother and more active even when using small body
motions. However, if the inertial forces generated from the acceleration of the robot body

13

are not suitably controlled, a biped robot easily falls down. In addition, during dynamic
walking, a biped robot may falls down from disturbances and cannot stop the walking
motion suddenly. Hence, the notion of ZMP (Zero Moment Point) was introduced in order
to control inertial forces . In the stable single support phase, the ZMP is equal to the COP
(Center of Pressure) on the sole. The advantage of the ZMP is that it is a point where the
center of gravity is projected onto the ground in the static state and a point where the total
inertial force composed of the gravitational force and inertial force of mass goes through
the ground in the dynamic state. If the ZMP strictly exists within the supporting polygon
made by the feet, the robot never falls down. Most research groups have used the ZMP as a
walking stability criterion of dynamic biped walking. To this end, the robot is controlled
such that the ZMP is maintained within the supporting polygon.
2.2 Walking Strategies
In general, the walking control strategies using the ZMP can be divided into two
approaches. First, the robot can be modeled by considering many point masses, the
locations of the point masses and the mass moments of inertia of the linkages. The walking
pattern is then calculated by solving ZMP dynamics derived from the robot model with a
desired ZMP trajectory. During walking, sensory feedback is used to control the robot.
Second, the robot is modeled by a simple mathematical model such as an inverted
pendulum system, and then the walking pattern is designed based on the limited
information of a simple model and experimental hand tuning. During walking, many kinds
of online controllers are activated to compensate the walking motion through the use of
various sensory feedback data including the ZMP. The first approach can derive a precise

14

walking pattern that satisfies the desired ZMP trajectory, but it is hard to generate the
walking pattern in real-time due to the large calculation burden. Further, if the
mathematical model is different from the real robot, the performance is diminished. On the
contrary, the second approach can easily generate the walking pattern online. However,
many kinds of online controllers are needed to compensate the walking pattern in real-time,
because the prescribed walking pattern cannot satisfy the desired ZMP trajectory. In
addition, this method depends strongly on the sensory feedback, and hence the walking
ability is limited to the sensors performance and requires considerable experimental hand
tuning. To date, most biped humanoid robots have performed stable dynamic walking on
the well prepared flat floors. Studies involving walking on the uneven and inclined floors
are still in the early stage. Dynamic walking on an uneven surface is hard to realize because
most biped humanoid robots perform hard position control of the joints by using motors
and reduction gears and the response times of the actuators and sensors are low due to the
reduction gear and sensor noise. Accordingly, it is impossible for the robot to measure the
ground conditions instantaneously and it is also impossible for the robot to appropriately
respond even if it measures the ground conditions rapidly. On the contrary, the human ankle
can rapidly adapt to changing ground conditions. Furthermore, human muscles can contract
or relax quickly with smooth motions.

15

Fig.2.1 (a): Cop on foot balanced, (b) cop shifted forwards.

The ZMP (Zero Moment Point) criterion in a nutshell. Idealize a robot with one leg
in contact with the ground as a planar inverted pendulum that is attached to a base
consisting of a foot with torque applied at the ankle, and assume all other joints are
independently actuated. In addition, assume adequate friction so that the foot is not sliding.
In (a), the robots nominal trajectory has been planned so that the center of pressure of the
forces on the foot, P, remains strictly within the interior of the footprint. In this case, the
foot will not rotate (i.e, the foot is acting as a base, as in a normal robotic manipulator) and
the system is therefore fully actuated. It follows that small deviations from the planned
trajectory can be attenuated via feedback control, proving stabilizability of the walking
motion. In case (b), however, the center of pressure (Cop) has moved to the toe, allowing
the foot to rotate. The system is now under actuated (two degrees of freedom and one
actuator), and designing a stabilizing controller is non trivial, especially when impact
events are taken into account. The ZMP principle says to design trajectories so that case (a)

16

holds; i.e., walk flat footed. Humans, even with prosthetic legs, use foot rotation to decrease
energy loss at impact.

17

18

Fig 2.2 Model biped robot

2.3 Support Phases

A biped is an open kinematic chain consisting of two sub chains called legs and,
often, a sub chain called the torso, all connected at a common point called the hip. One or
both of the legs may be in contact with the ground. When only one leg is in contact with the
ground, the contacting leg is called the stance leg and the other is called the swing leg. The
end of a leg, whether it has links constituting a foot or not, will sometimes be referred to as
a foot. The single support or swing phase is defined to be the phase of locomotion where
only one foot is on the ground. Conversely, double support is the phase where both feet are
on the ground. Walking is then defined as alternating phases of single and double support,
with the requirement that the displacement of the horizontal component of the robots
center of mass (COM) is strictly monotonic.2 Implicit in this description is the assumption
that the feet are not slipping when in w contact with the ground. Running is defined as
sequential phases of single support, flight, and (single-legged) impact, with the additional
provision that impacts occur on alternating legs. Below figure give a brief explanation of
how the bipedal robot walks and what are the two phases look like when the bipedal robot
is in motion. The figure shows the various joints and links. The dots representing the the
joints where the servos will be mounted and give the actuation and the lines represent the
bars or links of robot legs. When only one foot is on the ground it is the single support
phase and when both the feet are on the ground it is said to be double support phase.
However, the double support phases is the most balanced state of a walking bipedal robot
19

because it has both the feet on the ground and is highly stable. Hence, the center of gravity
of the robot is maintained exactly at the center of the two supporting legs while in the
double support stage.

Fig:2.3 Phases of bipedal walking with point feet. In (a), the single support or swing phase,
and in (b), the double support phase.

20

CHAPTER-3
THE DESIGN
3.1 MECHANICAL DESIGN
The Mechanical design forms the basis for developing this type of walking robots. The
mechanical design is divided into four phases:
1. Determining the Mechanical constraints.
2. Conceptual Design
3. Specification.
3.1.1 Determining the Mechanical Constraints
There are various design considerations when designing a Bipedal robot. Among
them, the major factors that have to be considered are:A) Robot Size Selection:
Robot size plays a major role. Based on this the Cost of the Project, Materials required for
fabrication and the no of actuators required can be determined. In this project miniature size
of the robot is preferred so a height not more than 40 cm is decided which includes
mounting of the control circuits. This small size of the robot enables us to carry out the
dynamic equations very easily and also to eliminate the unnecessary modal analysis and
21

stress analysis. Depending upon the size of the robot the foot of the robot is also chosen. If
the biped height is too big then relatively the biped foot gets bigger and bigger because the
assumption on which the present biped is being built is that, it is a static walking biped.
B) Degrees of Freedom
Human leg has got Six Degrees of freedom (Hip 3 D.O.F, Knee 1 D.O.F, Ankle 2
D.O.F), but implementing all the Six D.O.F is difficult due to increase in the complexity
and cost of the project. Placing 3 actuators in hip itself makes it difficult to frame the body
structure of the biped and several control issues are faced when the biped is set into motion.
While so in this project reduced degrees of freedom is aimed so 3 D.O.F per leg has been
finalized (Hip 1 D.O.F, Knee 1 D.O.F, Ankle 1 D.O.F). This type of system
formulated makes a pair of set with two different dynamic centers for motion in each set
and thus six degrees of freedom can be mimicked. By using this kind of mechanism the
bipedal robot can be used to mimic the human walking more realistically. Had there been
any actuators in the waist socket too it would take turns more like humans. and the need to
make the foot straight when walking would be eliminated to a certain degree and would be
used in more applications but as said earlier the more the degrees of freedom, more is the
complexity of programming all the servos.
C) Link Design
In this project U-shaped bracket like arrangement called servo frames and flat brackets
called servo clamps are used for various joints and connecting servos to the leg parts
wherever needed. Servo frames used are of various lengths according to the various lengths

22

of the different parts of the leg whereas the servo flat brackets will join the servo motors to
the different joints.
By using the U-shaped bracket the servos can be mounted easily and the actuation is
relatively very easy when compared to the conventional design of any typical robot which
consists of bars as links between different actuators. When such type of links are used,
special kind of equipment should be used to accommodate all the different types of the
motions that are required and the positioning of those actuators would also be difficult
because there could be a possibility of requiring more than one actuator at a particular joint
to perform motion in more than one axis. For example, just as in the care of a wrist or a
robot arm.
D) Stability
With Biped mechanism, only two points will be in contact with the ground surface. In
order to achieve effective balance, actuator will be made to rotate in sequence and the robot
structure will try to balance. If the balancing is not proper, in order to maintain the Center
of Mass, dead weight would be placed in inverted pendulum configuration with 1 D.O.F.
This dead weight will be shifted from one side to the other according to the balance
requirement. But in this project no such configuration is used.
E) Foot Pad Design
The stability of the robot is determined by the foot pad. Generally there is a concept that
over sized and heavy foot pad will have more stability due to more contact area. But there
is a disadvantage in using the oversized and heavy foot pad, because more material will be
23

required leading to increased costs and no significant contribution to the stability of the
system. This will also force the servo motors to apply more torque for lifting the various leg
parts.

3.1.2 Conceptual Design

Initially the Bipedal robot was conceived with ten degrees of freedom. Due to constraints
faced in controlling greater number degrees of freedom we, a new design was arrived with
the knowledge gathered from developing previous Bipedal models. The new design has got
Six degrees of freedom with three degrees of freedom per leg. Optimal distance was
maintained between the legs to ensure that legs dont hit each other while walking.

fig 3.1 CAD model of biped

24

3.1.3 Specifications
Material Required

ITEM

ILLUSTRATION

Aluminum

QUANTITY

SPECIFICATIONS

Aluminum Main Ushape Bracket for

linking
robot
electronic modules
with its leg parts

For connecting with

servo-side bracket to
fit the ankle servo

For connecting with

the ankle servo
and the foot bracket

Provides connection
with the servo
round horn and
movement space of
the Servo; It also
provides connection
with two U-shape
brackets for
different applications.

Main U-shape
Bracket

Aluminum
Foot Plate

Aluminum
Servo-side
Bracket

Aluminum Ushape
Bracket

25

Aluminum U-shape
Bracket

Provides connection
with the servo
case; It also provides
connection with two
U-shape Brackets for
different applications.

NANO Shield

The NANO Shield

board is used to
connect the Arduino
NANO board and
TT Linker Mini
signal conversion
board, include two
used to indicate
the LED1 and LED2,
two input buttons
S1 and S2.

Arduino Nano

The Arduino Nano

can be powered via
the Mini-B USB
connection, 6-20V
unregulated external
power supply (pin
30), or 5V regulated
external power
supply

TT Linker Mini

TTLinker Mini is a
signal conversion
board, connect to
Arduino Nano TX1
and RX0 two digital
serial ports

26

Battery

2.4V,NiMh,
900mAh

SC Servo

(SCS15)

27

SC Servo is meaning
that Smart Control
Servo. SC Servo can
work at servo mode
and wheel mode, has
a unique ID number
to identify on BUS
network, have kinds
of baud rate available,
and can feedback the
value of Position,
Temperature,
Load, Speed and
Input Voltage

Screws and other accessories

ITEM

ILLUSTRATION

QUANTITY

SPECIFICATIONS

Screw 1

10

ISOP 3 x 10 mm

Screw 2

30

ISOP 3 x 6 mm

Screw 3

50

ISOP 3 x 4 mm

Screw 4

40

TP1P 2 x 6 mm

Screw 5

10

ISOF 3 x 6 mm

Nut

40

3 x 5 mm

Servo Cable

5264 connecter
100mm *4
150mm *2

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Breadboard Jumper
Cables

Male to Female type

CHAPTER 4
BIPED MODELLING METHODOLOGY
4.1 Gait of Biped
Gait is the pattern of movement of the limbs of animals, including humans, during
locomotion over a solid substrate. Most animals use a variety of gaits, selecting gait based
on speed, terrain, the need to manoeuvre, and energetic efficiency. While gaits can be
classified by footfall, new work involving whole-body kinematics and force-plate records
has given rise to an alternative classification scheme, based on the mechanics of the
movement. In this scheme, movements are divided into walking and running. Walking gaits
are all characterized by a 'vaulting' movement of the body over the legs, frequently
described as in inverted pendulum (displaying fluctuations in kinetic and potential energy
which are perfectly out of phase). In running, the kinetic and potential energy fluctuate inphase, and the energy change is passed on to muscles, bones, tendons and ligaments acting
as springs (thus it is described by the spring-mass model), as in case of animals and

29

humans. In case of a Bi pedal robot the energy changes are passed on to the physical leg
structure comprising of Servo frames, clamps, Footpads, Servomotors, and other minor
components which should be designed and assembled to give maximum durability and
control while walking.

Designing a simple gait involves an active relationship between hardware and

software. To illustrate, it can be easily appreciated that the more degrees of freedom a biped
robot has, the more complicated the control program and electronic controller will have to
be. In many applications, increase in the degree of freedom may outweigh the benefits,
such as seen in biped robots with 10 degrees of freedom and more. With respect to software
design, biped gaits describe the control of balance. Balance involves an autonomous biped
robot maintaining a stable equilibrium while progressing along a surface. A way to achieve
such a balance can be done by using the walking state methodology. The method uses static
balance poses to define points of tending to balance during a gait. The point that a biped
robot tends to balance is called a state. The walking states are chosen as the maximum and
minimum tending to balance stance equilibrium positions where little or no torque needs to
be applied to maintain the state. Other methods that can be used include simulations, zero
point method, and trial, and error.

30

4.2 Autonomous Biped Gait

Autonomous biped gait algorithm can be achieved by considering a marching gait.
For a conceptual marching gait with two steps, left and right, we will assume that there are
five states where the robot tends to either balance or tend to topple. When marching gait is
considered with two steps the biped center of mass tends to shift to one side completely
when it is walking and is in the single support stage where only one foot is planted on the
ground.In this stage the biped tends to topple because most of the weight is shifted onto one
side.
The programming of biped walking consists the two steps which are discussed
further below.

4.3 Walking Cycle

Generally walking cycle consists of two steps namely Initialization and Walking: These are
explained below in detail.

4.3.1 Initialization
In the Initialization step the robot will be in balanced condition and in this step the
servomotors are made to return to home position. This will certainly help the robot to
advance into the next step.

31

4.3.2 Walking
Walking step is further classified into six phases.
Phase 1 Double Support:
In this phase both the legs are in same line and the center of mass is maintained
between the two legs.
Phase 2 Single Support (Pre-Swing):
In this phase both the ankle joints are in actuated in roll orientation which shifts the
center of mass towards the left leg and the right leg will be lifted up from the
ground.
Phase 3 Single Support (Swing):
In this phase, the right leg is lifted further and made to swing in the air. Hip and
knee joints are actuated in pitch orientation so that right leg is moved forward.
Phase 4 Post Swing:
In this phase the lifted leg is placed down with the actuation of ankle joints. After
the stage 5 stage 1 continues.

32

Fig 4.1 Walking phases

These stages are used for the modelling of the bipedal robot. However, considering
the ZMP which shifts its position very rapidly in the case of the humans the same
methodology cannot be adapted by the bipedal robot as of now, because of the
height constraints and the number of the degrees of freedom the biped motion is
very limited. This makes the biped to walk very slowly and the COG should not
cross the area where the landed foot is present on the ground during the single
support phase.

33

CHAPTER 5
ELECTRONICS AND CHASSIS

5.1 Electronics
The major electronic components comprise of Arduino Nano, which is the
processing unit and the and also the program memory is vested on the arduino board.The
Arduino is seated upon the Arduino Nano Shield for designed for smart serial control of
servos. The output from the Nano Shield goes to the TT Linker Mini which processes its
input and manipulates it to control both the legs using two different UART serial channels
connecting the Servo at Hip to the Servo at Ankle via Servo at Knee.

5.2 Arduino

34

Arduino is a tool for making computers that can sense and control more of the physical
world than your desktop computer. It's an open-source physical computing platform based on a
simple microcontroller board, and a development environment for writing software for the board.
Arduino can be used to develop interactive objects, taking inputs from a variety of switches
or sensors, and controlling a variety of lights, motors, and other physical outputs. Arduino projects
can be stand-alone, or they can communicate with software running on your computer

Advantages of Arduino

' Simple, clear programming environment - The Arduino programming environment is easy-to-use
for beginners, yet flexible enough for advanced users to take advantage of as well. For teachers, it's
conveniently based on the Processing programming environment, so students learning to program in
that environment will be familiar with the look and feel of Arduino

'
' Open

source and extensible software- The Arduino software is published as open source tools,

available for extension by experienced programmers. The language can be expanded through C++
libraries, and people wanting to understand the technical details can make the leap from Arduino to
the AVR C programming language on which it's based. Similarly, you can add AVR-C code directly
into your Arduino programs if you want to.

'
'
' Cross-platform - The Arduino software runs on Windows, Macintosh OSX, and Linux operating
systems. Most microcontroller systems are limited to Windows.

35

Inexpensive - Arduino boards are relatively inexpensive compared to other microcontroller

platforms. The least expensive version of the Arduino module can be assembled by hand,
and even the pre-assembled Arduino modules cost less.

5.3 Arduino Nano

The Arduino Nano is a small, complete, and breadboard-friendly board based on the
ATmega328 (Arduino Nano 3.x) or ATmega168 (Arduino Nano 2.x). It has more or less the same
functionality of the Arduino Duemilanove, but in a different package. It lacks only a DC power
jack, and works with a Mini-B USB cable instead of a standard one. The Nano was designed and is
being produced by Gravitech.

36

Fig 5.1 Arduino Nano Front and Rear view

37

5.3.1 Power
The Arduino Nano can be powered via the Mini-B USB connection, 6-20V unregulated
external power supply (pin 30), or 5V regulated external power supply (pin 27). The power source
is automatically selected to the highest voltage source.

5.3.2 Memory
The ATmega168 has 16 KB of flash memory for storing code (of which 2 KB is used for
the bootloader); the ATmega328has 32 KB, (also with 2 KB used for the bootloader). The
ATmega168 has 1 KB of SRAM and 512 bytes of EEPROM (which can be read and written with
the EEPROM library); the ATmega328 has 2 KB of SRAM and 1 KB of EEPROM.

5.3.3 Input and Output

Each of the 14 digital pins on the Nano can be used as an input or output, using
pinMode(), digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin
can provide or receive a maximum of 40 mA and has an internal pull-up resistor
(disconnected by default) of 20-50 kOhms.

5.4 Smart Servo Control Shield

38

Shields are boards that can be plugged on top of the Arduino PCB extending its
capabilities. The purpose of a shield is to provide new plug-and-play functionality to the
host microcontroller, so as to control the actuation of Smart Control Servos. Here in the
use of Arduino Nano shield in the electronics of Bipedal Robot is to mutate the number of
inputs according to the servos. The wiring schema of the Biped is such that all the SC
Servos of one leg are connected in series i.e Servo at the Hip to the Servo at the Ankle via
Servo at Knee. So to actuate each servo simultaneously which a Arduino can't do by itself
the Arduino Nano Shield is used. With this smart servo shield and Smart Control series
servos, It's quite easy to drive multi servos with daisy chain connection to Arduino
processor and build a biped, robotic dog, hexapod with powerful servos.

5.4.1 TT Linker Mini

The NANO Shield board is used to connect the Arduino NANO board and TT Linker Mini
signal conversion board, include two used to indicate the LED1 and LED2, two input
buttons S1 and S2.Two LEDs corresponding connection Arduino Nano D2 and D4 digital
port, two buttons correspond to connect the Arduino Nano A1 and A2 Analog
port.TTLinker_mini connect to Arduino Nano TX1 and RX0 two digital serial ports and
convert the Arduino Nano control signals into a single bus to control SC Servo.

5.5 SC Servo

39

SC Servo is meaning that Smart Control Servo. SC Servo can work at servo mode and
wheel mode, has a unique ID number to identify on BUS network, have kinds of baud rate
available, and can feedback the value of Position, Temperature, Load, Speed and Input
Voltage. SC Servo is easy to be controlled by Arduino.

5.6 Actuators selection

Electric motors are used to actuate something in robots: its wheels, legs, tracks,
arms, fingers, sensor turrets, or weapon systems. There are literally dozens of types of
electric motors (and many more if we count gasoline and other fuelled engines), but for
amateur robotics, the choice comes down to these three: dc motor , stepper motor ,servos.
Though all the three of these actuators are considered to be well suited only one of them is
most efficient for our current bipedal robot. The choice of selection of actuator of these
bipedal robots is supported by the following.

5.6.1 DC Motor
In a continuous DC motor, application of power causes the shaft to rotate
continually. The shaft stops only when the power is removed, of if the motor is stalled
because it can no longer drive the load attached to it.

5.6.2 Stepper motor

40

In a stepping motor, applying power causes the shaft to rotate a few degrees, then
stop. Continuous rotation of the shaft requires that the power be pulsed to the motor. As
with continuous DC motors, there are sub-types of stepping motors. Permanent magnet
steppers are the ones youll likely encounter, and they are also the easiest to use.

5.6.3 Servo motor

A special subset of continuous motors is the servo motor, which in typical cases
combines a continuous DC motor with a feedback loop to ensure accurate positioning.
There are many, many types of servo motors; a common form is the kind used in model
and hobby radio-controlled cars and planes.

Motor Type
Continuous DC

Pros

Cons

Wide selection
41

Requires

gear

available, both new and

reduction to provide torques

used.- Easy to control via

needed

computer with relays or

applications.

electronic switches.

With gearbox,

larger DC motors can

for

most

Poor

sizing

robotic

standards

and

in

mounting

arrangements.

power a 200 pound robot.

Stepper

Does

not

Poor

performance

require gear reduction to

under varying loads. Not great

power at low speeds.

for

Low cost when

purchased on the surplus

market.

robot

locomotion

over

uneven surfaces.

Consumes

high

current.

Dynamic

braking effect achieved

circuit

by

rotation.

leaving

coils

of

Needs special driving

to

provide

stepping

stepper motor energized

(motor will not turn, but
will lock in place).
R/C servo

expensive

Least
non-surplus

source for gear motors.

Can be used
42

Requires

modification

for

continuous

rotation.

Requires

special

for

precise

angular

driving circuit.

control, or for continuous

rotation

(the

latter

requires modification).

several

Available
standard

sizes,

more

powerful servos are available,

practical

in

Though

weight

limit

for

powering a robot is about 10

pounds.

with standard mounting

holes.

Upon careful research and on the basis of the above mentioned reasons Servos are being
selected for the actuation of the biped robot joints because of their precise angular control
which can mimic the human walking pretty much with ease.

43

5.7 Mechanical components:

5.7.1 Material selection:
While there are almost dozens of materials to choose from to make the chassis of
the biped. Aluminium has been selected finally as the optimal material after careful
research to use for this current bipedal robot project. The benefits of using the aluminium
material are given below. Some of the main reasons for choosing aluminium body is
because of its light weight and good durability and ease of availability. More of the features
and benefits are as follows:
It has the precision of manufacture,
It has long-time stability of dimensions (they do not change their shape like PVC due to
heating up),
It has high mechanical endurance (resistance to impact),
The aluminium structures do not require surface maintenance, such as wooden ones, and
their cleaning is fast and easy,
The aluminium structures are very durable, resistant to weather conditions and wear,
It has a wide selection of appearance in the form of high quality finishing (RAL, anode and
wood colour veneering),
The elegant profile of aluminium structures guarantees maximum access to light and
aesthetic appearance,
It has a very good thermal insulation provided by a complex structure and various types of
fill (aluminium profile enable a structure with a thermal insulation coefficient of U=1.2 W/
(m2*K) with a glass coefficient of U=1.0 W/(m2*K) ),
It has various styles and opening systems, as well as compatibility with other aluminium
systems,
It is available fire systems, classes from EI15 to EI60, and a burglar alarm,
It has a high acoustic insulation and a possibility of individual product preparation for an
appropriate design,

44

5.7.2 Aluminium C shaped brackets

These C brackets typically make the whole body of our biped. These brackets are
used to fix the servos and hold them at their respective points. These C shaped brackets
accommodate the servos very easily and perfectly giving the robot a smooth and hassle free
motion. Also using these C shaped brackets the robot is very flexible and can turn and bend
easily. Upon impacts, the potential damage endangered will be reduced to zero since all the
links are c brackets and they bend because of the actuators present at their joints.

Fig 5.2. C-bracket joints

5.7.3 Main U-shaped brackets

The U shaped aluminium bracket is used to hold the two legs together. This bracket
is placed on top of the two legs and is fixed to the two legs using few screws and nuts.

45

Besides, holding the two legs together, it also serves as the platform or base to mount the
servo shield and the Arduino nano.

Fig 5.3 U shaped bracket

CHAPTER 6
ASSEMBLY

46

6.1 Assembling the biped robot

The biped assembly is done in various stages. Each stage is being discussed below
and represented pictorially.

6.1.1 Footpad and Servo side bracket

Initially the foot bracket is taken and the servo side bracket is placed on top of it.
The purpose of placing a servo side bracket is to hold the servos. Having 3 servos fixed in
each leg one of the three servos is placed on the foot to give it the tilting motion. In order to
fix the servo onto the foot simple screws cannot be used. Hence, by initially fixing a servo
side bracket the servo on the foot gets a base support and this servo side bracket is then
fixed onto the foot plate.

Fig 6.1. servo side bracket on foot plate.

6.1.2 C shaped brackets

47

The C shape brackets make the complete robot links which means the whole body is
made up of C shaped brackets. The C shaped brackets accommodate the servos and then are
fixed together end to end. The other side of the servos also contain C shaped brackets
which are then fixed to the U shaped bracket on top.

(a)

(b)
Fig: 6.2 (a) C shaped brackets (b) assembled brackets

48

6.1.3 Main U shaped bracket

Finally, the U shaped bracket is being mounted on top of the two legs to give it
support and also to provide a base for the arduino and the ttlinker. With this the whole biped
body is assembled. The arduino and the ttlinker can also be screwed to the u shaped bracket
so that twist and bend positions it does not fall off the body.

Fig 6.3 Assembled Biped.

49

CHAPTER 7
SOFTWARE PROGRAMING AND OPERATION

7.1 Methodology

The main idea of the project is to make in-Hand manipulating Biped Robot. InHand Manipulation, often called as Dexterous manipulation or Object manipulation is a
process of performing the actions to be done robot by the operator and simultaneously
feeding the same into the memory of the program chip. Then upon call for operation the
robot mimics the same actions fed to itself by the operator. This is achieved by the process
of Reverse mapping.

7.2 In-Hand Manipulation

In-hand manipulation is the ability to reposition an object in the hand, for

example when adjusting the grasp of a hammer before hammering a nail. The common
approach to in-hand manipulation with robotic hands, known as dexterous manipulation, is
to hold an object within the fingertips of the hand and wiggle the fingers, or walk them
along the objects surface. Dexterous manipulation, however, is just one of the many
techniques available to the robot. The robot can also roll the object in the hand by using
gravity, or adjust the objects pose by pressing it against a surface, or if fast enough, it can

50

even toss the object in the air and catch it in a different pose. All these techniques have one
thing in common: they rely on resources extrinsic to the hand, either gravity, external
contacts or dynamic arm motions. We refer to them as extrinsic dexterity.

Upon using the Dexterous Manipulation Technology, the movement given to the
boy of the biped generates electrical impulses in the Smart control Servo motors and then
the impulses are backed to the Arduino Shield via TT Linker where the shield
communicates with the Arduino board and Arduino writes the movements as motion with
set of delays as command to servo motors. As this is an extrinsic effect the arduino is
programmed to receive the impulses and negate the impulses to create the intrinsic effect
and stores the program to its flash memory. Thus when on operation the previously stored
movements are performed by the biped.

7.3 Reverse Mapping

Reverse mapping is the backend process of In-hand manipulation. It is the process
where all the geometric configurations performed upon the robot are reversely mapped on
the memory as a program to implement the same actions intrinsically. This is the crux
technology behind the In-Hand manipulation methodology. Reverse mapping technology
allows to feed programs simply without coding, by self-generating the program when the
movements are performed upon the robot extrinsically.

51

7.4 Advantages

The advantages of this process is that hefty coding schedules can be discarded for
each type of motion/geometric configuration to be performed by the biped. Only a one time
program should be coded so as to perform the movements fed to the biped. This system
eliminates the program changeover time and program development time. a person with high
programming skills isn't needed every time to create the set of codes for each type of
movement, rather a lay man can feed the movement by physical manipulation of required
movement.

The program and the header files required to code the Biped are shown further.

52

7.5 Header file for the program

/*
* SCServo.h
* Series Control Servo
* Created on: 2015.04.06
* Author: Hareen,Jonny,Surya|Project Biped|
*/
#ifndef _SCSERVO_h_
#define _SCSERVO_h_
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
#define
#define
#define
#define
#define
#define

s8
u8
u16
s16
u32
s32

char
unsigned char
unsigned short
short
unsigned long
long

class SCServo{
public:
SCServo();
u8 EnableTorque(u8 ID, u8 Enable, u8 ReturnLevel=2);
u8 WritePos(u8 ID, s16 position, s16 velocity, u8
ReturnLevel=2);
u8 RegWritePos(u8 ID, s16 position, s16 velocity, u8
ReturnLevel=2);
s16 ReadPos(u8 ID);
s16 ReadVoltage(u8 ID);
s16 ReadTemper(u8 ID);
void RegWriteAction();
void SyncWritePos(u8 ID[], u8 IDN, s16 position, s16
velocity);
u8 WriteID(u8 oldID, u8 newID, u8 ReturnLevel=2);
u8 WriteLimitAngle(u8 ID, u16 MinAngel, u16 MaxAngle, u8
ReturnLevel=2);

53

u8
WriteLimitTroque(u8
ID,
u16
MaxTroque,
u8
ReturnLevel=2);
u8 WritePunch(u8 ID, u16 Punch, u8 ReturnLevel=2);
u8 WriteBaund(u8 ID, u8 Baund, u8 ReturnLevel=2);
u8 WriteComplianceMrgin(u8 ID, u8 CCW, u8 CW, u8
ReturnLevel=2);
u8 WritePID(u8 ID, u8 P, u8 I, u8 D, u8 ReturnLevel=2);
u8 WriteSpe(u8 ID, s16 velocity, u8 ReturnLevel=2);
u8 LockEprom(u8 ID, u8 Enable, u8 ReturnLevel=2);
private:
u8 ReadBuf(u8 len, u8 *buf=NULL);
#define
startByte 0xFF
#define
TIMEOUT
2000//TIMEOUT 2000
#define
#define
#define
#define
#define
#define
#define
#define

B_1M
0
B_0_5M
B_250K
B_128K
B_115200 4
B_76800
B_57600
B_38400

//register Address
#define P_MODEL_NUMBER_L 0
#define P_MODEL_NUMBER_H 1
#define P_VERSION_L 3
#define P_VERSION_H 4
#define P_ID 5
#define P_BAUD_RATE 6
#define P_RETURN_DELAY_TIME 7
#define P_RETURN_LEVEL 8
#define P_MIN_ANGLE_LIMIT_L 9
#define P_MIN_ANGLE_LIMIT_H 10
#define P_MAX_ANGLE_LIMIT_L 11
#define P_MAX_ANGLE_LIMIT_H 12
#define P_LIMIT_TEMPERATURE 13
#define P_MAX_LIMIT_VOLTAGE 14
#define P_MIN_LIMIT_VOLTAGE 15
#define P_MAX_TORQUE_L 16
#define P_MAX_TORQUE_H 17
#define P_ALARM_LED 18
#define P_ALARM_SHUTDOWN 19
#define P_COMPLIANCE_P 21

54

1
2
3
5
6
7

#define
#define
#define
#define
#define
#define

P_COMPLIANCE_D 22
P_COMPLIANCE_I 23
P_PUNCH_L 24
P_PUNCH_H 25
P_CW_COMPLIANCE_MARGIN 26
P_CCW_COMPLIANCE_MARGIN 27

#define
#define
#define
#define
#define
#define
#define

P_TORQUE_ENABLE (31)
P_LED (32)
P_GOAL_POSITION_L (33)
P_GOAL_POSITION_H (34)
P_GOAL_SPEED_L (35)
P_GOAL_SPEED_H (36)
P_LOCK (37)

#define
#define
#define
#define
#define
#define
#define
#define
#define
#define
#define

P_PRESENT_POSITION_L (41)
P_PRESENT_POSITION_H (42)
P_PRESENT_SPEED_L (43)
P_PRESENT_SPEED_H (44)
P_PRESENT_LOAD_L (45)
P_PRESENT_LOAD_H (46)
P_PRESENT_VOLTAGE (47)
P_PRESENT_TEMPERATURE (48)
P_REGISTERED_INSTRUCTION (49)
P_ERROR (50)
P_MOVING (51)

//Instruction:
#define
#define
#define
#define
#define
#define
#define

INST_PING 0x01
INST_READ 0x02
INST_WRITE 0x03
INST_REG_WRITE 0x04
INST_ACTION 0x05
INST_RESET 0x06
INST_SYNC_WRITE 0x83

};
#endif

7.6 Program
55

/*
* Series Robot Control v1.0
* Created on: 2015.04.07
* Author: Hareen,Jonny,Surya
*/
#include <SCServo.h>
#include <EEPROM.h>
SCServo SERVO;
int addr = 0;
int maxaddr = 12;
int LED1 = 4;
int LED2 = 2;
int motion_t = 900;
int T = 1000;
#define
But_1
A1 // define an button for select Program
mode or Control mode
#define
But_2
A2 // define an button to confirm input
void ProgramStartMotion()
{
int bot2 = analogRead(But_2); //
if(bot2<20)
{
digitalWrite(LED2,HIGH);
//
delay(500);
digitalWrite(LED2,LOW);
for(int y=0; y<=960;y++)
{
for(int i = 1; i <= 6; i++)
{
s16 pos = SERVO.ReadPos(i);//read Servo ID i position
byte posL = pos&0xff;
EEPROM.write(y, posL);
byte posH = pos>>8;
y = y + 1;
EEPROM.write(y, posH);
y = y + 1;
}
}
EEPROM.write(12, 0xff);
EEPROM.write(13, 0xff);
}

56

}
void ProgramMotion()
{
int back_loop = 1;
while(back_loop)
{
SERVO.EnableTorque(0xfe, 0);
delay(200);
digitalWrite(LED1,LOW);
//
delay(200);
digitalWrite(LED1,HIGH);
//
int bot1 = analogRead(But_1); //
if(bot1 < 20)//exit program motion
{
addr = 0;//perform start at address 0
back_loop = 0;
digitalWrite(LED1,LOW);
//
delay(500);
}
int bot2 = analogRead(But_2); //
if(bot2 < 20)
{
digitalWrite(LED2,HIGH);
//
delay(500);
digitalWrite(LED2,LOW);
//
for(int i = 1; i <= 6; i++)
{
s16 pos = SERVO.ReadPos(i);//read Servo ID i position
byte posL = pos&0xff;
EEPROM.write(addr, posL);
byte posH = pos>>8;
addr = addr + 1;
EEPROM.write(addr, posH);
addr = addr + 1;
// advance to the next address. there are 1k bytes in
// the EEPROM, so go back to 0 when we hit 1k.
if (addr == 960)
{
addr = 0;
delay(100);
}
}
if(addr>maxaddr)

57

{
maxaddr=addr;
EEPROM.write(addr, 0xff);
EEPROM.write(addr+1, 0xff);
}
digitalWrite(LED2,HIGH);
//
delay(500);
digitalWrite(LED2,LOW);
//
}
}
}
void PerformMotion()
{
SERVO.EnableTorque(0xfe, 1);
// read a byte from the current address of the EEPROM
for(int i = 1; i <= 6; i++)
{
byte posL = EEPROM.read(addr);
addr = addr + 1;
byte posH = EEPROM.read(addr);
addr = addr + 1;
s16 pos =posH<<8;
pos = pos | posL;
s16 current_pos = SERVO.ReadPos(i);//read Servo ID:1 position
if(pos!=-1)
{
s16 pos_error = abs( pos - current_pos) ;
s16 s = motion_t * 10;
//s *=100;
s16 velocity = s / pos_error;
//SERVO.WritePos(i, pos, velocity);
SERVO.RegWritePos(i, pos, velocity);
}
if (addr == 960)
{
addr = 0;
delay(100);
}
}
if(EEPROM.read(addr)==0xff && EEPROM.read(addr+1)==0xff)
{
addr = 0;//read end flat perform start at address 0
}

58

SERVO.RegWriteAction();
delay(T);
}
void setup()
{
Serial.begin(1000000);//init Serial baudrate
delay(500);
pinMode(LED1,OUTPUT);
pinMode(LED2,OUTPUT);
SERVO.EnableTorque(0xfe, 0);//
ProgramStartMotion();
}
void loop()
{
int bot1 = analogRead(But_1); //
digitalWrite(LED2,LOW);
//
if(bot1<20)
{
digitalWrite(LED1,HIGH);
//
delay(100);
ProgramMotion();
}
else
{
digitalWrite(LED1,LOW);
//
digitalWrite(LED2,HIGH);
//
PerformMotion();
}
int bot2 = analogRead(But_2); //
if(bot2<20)
{
digitalWrite(LED2,LOW);
//
motion_t = motion_t - 100;
if(motion_t < 100)
{
motion_t = 1000;
}
delay(500);
}
}

59

7.7 Operation:
For initially setting the robot to a reference position or to reset the robots position the S2
button is pressed. This button is also used for deleting all the previously saved motion and
bringing it back to the original position. This should be pressed initially after power on.
Another method of resetting is to press the reset button for 1 second until the LED2 flashes
for one time.
The period of the on time for LED2 will be used by the biped to keep its position to set up
its initial motion.LED2 normally on means that the initial setup is complete. If after power
is on, no reset button is pressed or S2 is pressed this will skip the initial setting.
When LED2 normally on, pressing the S1 button to let LED2 off and LED1 flashing, this
time can be used to set biped robot motion by hand, all SC Servo torque output will be off,
and the arbitrary flipping in biped robots degree of freedom by hand to set up the position
desired can be done.
In order to let the continuity of action, the movement angle should not be too big
between the joints of the robot.

CHAPTER 8
APPLICATIONS

60

 Bipedal robots have become the ones to attract scientists, researchers,

industrialists, educational institutions. Their use have been foreseen in many diverse fields.
The current artificial environment is designed for humans. For example, the width of a
corridor is determined by the size of humans, and the height of steps on stairs by the length
of a human leg. Therefore, a robot can move in the current environment without reinvestment to the environment when the kinematics of the robot is compatible with that of
humans.

Industrial plants can be run without a break if tele-operated robots are able to
maintain them, including hazardous areas. Besides, we can expect that the plants do not
need remodelling when the maintenance robots are humanoid robots.

Bipeds can be used for assisting the physically challenged people in walking.
Bipeds can be used for Guarding the home and office.
Bipeds can be used to replace some of the human tedious works such as carrying loads.
Bipeds can be used to develop Polypedal robots which could be more stable.
Bipeds are a very useful means of transportation in rough or uneven terrains or slippery
terrains.

Bipeds can be used in military where medical supplies have to be transported to a remote
base.

The robot can move in the environment that is designed for humans.

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CHAPTER 9
CONCLUSION

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In the present day world where technological advancements play a major role in
every field, the whole world is running towards achieving a better tomorrow where almost
all the present day processes will be automated and would require less or no human
intervention at all. With the technology advancing in leaps and bounds, the usage and
application of the humanoid robots are ever increasing attracting the industries, educational
institutions, medical departments, defence etc., globally. It is true that humanoid robots
need more time to be applied in real society on a large scale, but it started approaching the
goal with a rapid speed. We believe that biped humanoid robots have a good chance of
being the largest product of this century.

CHAPTER 10
FUTURE ADVANCEMENTS
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These BI-PED legs can further be aimed into creating a full humanoid. First the hands can
be added enabling it to walk and pick up things, punch obstacles and other functions. Then
a head can also be attached enabling it to recognize colours through image processing.
More human like functions can be assigned to the robot leading it to become something
bigger than only a pair of bipedal legs. A controller can also be made to manually handle
the bot and make it perform tasks.

REFERENCES
M. Vukobratovi c, B. Borovac, D. Surla, and D. Stoki' c,Biped Locomotion.
Dynamics, Stability, Control and Application.Springer, 1990.

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 S. Kajita and K. Tani, "Experimental Study of Biped Dynamic Walking," in 1995

IEEE Int. Conf. on Robotics and Automation,pp. 13.
W. T. Miller, "Real-Time Neural Network Control of a Biped Walking Robot,"
IEEE Control Systems Magazine, pp. 41-48, February. 1994.
K. Hashimoto, Y. Sugahara, H. 0. Lim, A. Takanishi.: Realization of stable
walking on public road with new biped foot system adaptable to uneven terrain.
Paper presented at the IEEE/RAS-EMBS international conference on biomedical
robotics and biomechatronics, 20-22 Feb. 2006.
J. H. Kim, J. H. Oh.: Walking control of the humanoid platform KHR-1 based on
torque feedback control. Paper presented at the IEEE international conference
on robotics and automation, New Orieans, LA, 26 April -1 May 2004

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