Design and control of a biped robot

Abstract

This paper aims to present the practical realization of a biped robot and its remote control via bluetooth communication using C++ language. With a height of about 25 centimeters, the robot has six degrees of freedom, given by the six servomotors that are used to move it. Dimensions and the small number of motors are an advantage over conventional robots, because it does not need external energy sources and big hardware or software resources. The design allows the robot's straight movement and turning left or right. The presence of infrared sensors allows the robot to avoid static obstacles and stop at the edges of the surface displacement to avoid any accidents. The robot is able through an infrared proximity sensor used to avoid obstacles, to achieve grayscale images of objects is used a line-by-line scanning algorithm. The software allows the live creation of the images pixel by pixel. Those images can be stored or used to identify shapes or objects.