Bipedal Robot
Building a bipedal robot from scratch
My Role
Robot Design
I have designed the leg structure of the robot. The parallel structure of the legs enhances the robot's stability while the addition of springs can offer a cushioning effect.
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Print & Assemble
I printed the parts of the robot and assembled it. I continuously made modifications to my design to ensure a better fit during the actual assembly.
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Walk
Initially, I used simple sine functions to create the movement of the robot. Later, I used simulation to learn the most effective parameters to enable the robot to walk quickly.
Team Members
Michael Lee
Timeframe
One Semester
Robot Design
Sketch
I brainstormed multiple designs for robots and drew rough sketches.
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Preliminary Robot Design
I designed the robot's leg structure and determined the size of each part. The design must consider the weight distribution of the robot and the strength of the materials utilized.
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At first, I considered using generative design to design the leg structure. However, due to insufficient computing power and the time required, computer crashes frequently.
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​Final Robot Design
In the end, I utilized Fusion 360 to design the entire robot. The center of gravity of the robot was lowered, and the feet were made wider to allow for a more stable stance. Additionally, all necessary components were incorporated into the design, making it easier and more intuitive to view the overall robot.
Print & Assemble
After completing the design, the robot can be assembled. The servos and sensors need to be linked to the microcontroller and programmed to regulate the movement of the legs and torso. It is important to test each component and ensure that it is working correctly before assembling the whole robot.
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3D Printing
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Assemble
Make sure the cables are routed properly and securely.
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Extreme Leg Positions Test
Leg Movement Test
The final robot and its walking performance
After assembling the entire robot, the next step is to make it walk. Initially, the robot was unable to walk forward, and the legs were unable to move to the specified positions due to insufficient servo power.
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Through continuous adjustment of parameters, as well as a simulation in the PyBullet environment, we were able to find the parameters that allowed the robot to walk at a relatively fast pace (12 cm/s).
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Final Robot
Cural Angle
Robot Speed Test
Journey Video
