Humanoid (Testing & Walking)
Humanoid-Robot first walking test.
Specifications:
18 Degrees of freedom:
10 DOF in legs,
3 DOF in each hand,
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:
6 Motors (3 each),
Metal Gear (16 Kg-cm) servos
Sensors:
1 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 bluetooth (HC-05)
Currently, everything is controlled by Arduino (except image processing). Arduino calculates the leg joint angles in real time using Inverse Kinematics .It uses a heuristic IK (FABRIK) which is efficient, fast and less computationally intensive enough to run on Arduino. Each foot step is 4 cm long; 40 points are generated for each step & corresponding joint angles are calculated. The walking gait is statically stable by the way not dynamically. Although the IK is fast but it does take around 3-8 ms on Arduino for each solution. I have not tried it on raspberry pi yet.
Head part includes the IR sensors and camera which is not shown in this video. Details about the head in future videos..
Watch the robot climb stairs: https://www..com/watch?v=NvK8gQHRqUw
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.