COPYRIGHT ©1996
VISITOR NUMBER
Bipedal Robot
PROJECT : Pinocchio(
first bipdel robot)
Click
for larger photo
PROJECT : Gigantor ( in honor of a popular
Japanese robot cartoon)
Click
for larger photo
STATUS: currently in progress
Brief Description:
Roganti Walking Mechanism
The Bipedal robots are using a different walking mechanism
I designed, call it the Roganti Walking Mechanism. The Bipedal locomotion
is achieved using a combination of static and dynamic equilibrium to emulate
the human walking gait. This results in less processor overhead required
to accomplish the bipedal locomotion. Currently there are two versions
in prototype . Hopefully , I can refine one of them to make them more attractive
to those want to try this.
The construction for the Biped robots are based mostly on materials supplied
by PLASTRUCT. Although some parts, such as the Torso and feet came elsewhere.
The Torso is from a plastic toy pail I found in Toys R Us . The feet are
acrylic soup bowls I found in the grocery store, they're made by Arrow
Plastic in Illinois. The plastic materials allow me to customize my own
design, with structural integrity , and while keeping the weight reduced.
There are currently 2 prototypes which demonstrate bipedal locomotion using
the human gait.
Later, I'll put some more documentation/diagrams here about the design.
I'm using the 68HC11A1 embedded controller with 64KB SRam on these at the
moment.
As all things go, if my budget can withstand it, I wish to pursue a full
version bipedal using dynamic stability using my Inclinometer. This has
already demonstrated to be responsive for balancing in a bipedal robot.
You can look at that info on the other webpage in the Robotics main menu.
And of course upgrade to another controller, like to 68332.
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