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The design for the bipedal robot is rather different from conventional robots. There are limits on, among other things, the actuator size and the weight. Therefore, this paper aims to share our experiences in the design process, especially to those new in this area. This paper will address the main considerations taken in designing an anthropomorphic bipedal robot. Introduction : The development of a bipedal walking system actually consist of a variety of research areas -robotics, mechanics, electronics, control and biomechanics all contribute to various aspects of this research. To walk dynamically at a reasonable speed: The robot is to achieve walking speed of approximately 1m/s. To be robust and reliable: This is because various control algorithms are to be developed and tested on this robot. Otherwise, considerable amounts of time need to be spent on repairing, configuring and repairing the robot on a regular basis. Design Considerations : There are various design considerations when designing this robot. Among the various factors being considered are: robot size selection • degrees of freedom (DOF) selection • actuator selection • loads at joints • sensor selection • control hardware. The higher the torque requirement, the higher the gear ratio used. For the hip pitch and knee joints, gear ratios of 134:1 was used; 66:1 gear ratios were used for hip roll and ankle pitch; 43:1 was used for hip yaw; and finally 14:1 was used for ankle roll.
Tags : bipedal robot, conventional robots, selection loads, knee joints, gear ratios, control algorithms, degrees of freedom, walking speed, selection control, sensor selection, size selection, control hardware, design considerations, gear ratio, actuator
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