Humanoid (Dynamic walking)
The robot performs dynamic walking gait which is faster & more stable than the previous gait.
Specifications:
22 Degrees of freedom:
10 DOF in legs,
5 DOF in each hand (including 1 DOF Gripper),
2 DOF in head
Height- 47 cm (including head)
Weight- 1.747 Kg
Legs:
10 Motors,
Metal Gear (35 Kg-cm torque) servos,
Aluminium motor brackets
Hands:
10 Motors (5 each),
Metal Gear (16 Kg-cm) servos for shoulders & elbow,
Micro servos (Nylon gear, 2 Kg-cm) for wrist & gripper
Sensors:
3 IMU (3 axis accelerometer, 3 axis gyro); MPU 6050,
6 pressure sensors (3 in each foot),
2 IR obstacle sensors with adjustable range (1 in each foot),
Head:
4 IR range sensors in four directions,
1 raspberry pi camera
Controllers:
Raspberry PI (mostly for image processing),
Arduino Mega 2560
Battery:
2200 mAh 30C 7.4 V
Wireless control:
Via nRF24L01
This project was developed at Artificial Intelligence & Mechatronics (AIM) lab, School of Mechanical Sciences, IIT Bhubaneswar. Special thanks to my mentor Dr. Pandu Ranga Vundavilli for his guidance & support in this project.