Technical Session - 1

Title:            Design and Construction of Bipedal Robot System with Dynamixel Ax-12a Actuators
Authors:       F. Ali, W. Z. Ming, A. Z. Shukor, M. H. Jamaludin, M. F. Miskon, M. B. Bahar
Abstract:     The main objective of this research is to design and construct of a practical bipedal robot with obstacle avoidance system by using Arduino microcontroller board and Dynamixel AX-12A servo as actuators. In recent years, robots have been developed to substitute human to carry out some critical tasks in dangerous environment. The purpose of this research project is to design and construct a bipedal robot which is capable of walking and also able to avoid obstacles autonomously. The great challenges in designing a bipedal robot are to choose suitable actuators for each joint and also to ensure the stability of the biped robot during walking. In this project, it is proposed to implement Arduino microcontroller as the main brain to the robot. The project development started with design and construction of a bipedal robot by using SolidWorks and followed by design of electrical and electronic configuration using Proteus ISIS, stability study and controller application. In the early stage, experiments are conducted to interface Arduino microcontroller and Dynamixel servo motors. Then, the bipedal robot is constructed and assembled using Bioloid bipedal robot platform by Robotics. The walking pattern is embedded into the bipedal robot and tested for several trials. Parameters such as servo motor angle of rotation, center of mass and static walking motion are obtained and analysed in terms of the capability to achieve stable forward walking motion. Error analysis and trajectory analysis have been carried out to see the performance of the biped robot walking motion as compared to the actual human walking motion. As conclusion, a practical 12 degree of freedom (DOF) bipedal robot has been designed and constructed by using Dynamixel AX-12A servo motors. The built robot is able to perform walking autonomously. This robot is very practical and suitable to be used in robotics subject in order to learn the basics of humanoid robot.

Keywords:  Bipedal, robot, Arduino, Dynamixel, Humanoid
Pages:        206-209

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