Bipedal robot description

Abstract

This work report the electronic and mechanical for a bipedal robot prototype. The objective of this project is build a platform to study the dynamic walking and to prove some intelligent control techniques. This work highlighted the fact that mechanical design is equally, if not more important, than the control method used. All the elec- tronic was implemented in a low cost PIC16F873 microcontroller. The robot designed has 9 degree of freedom (DOF) and each joint is driven by a DC servo motor. A gait program besides a control algorithm who read a gyroscope and force sensors are used to equilibrate the robot at walking.