Design and Development of the I.T.U. Biped Robot

Zeki Yağız BAYRAKTAROĞLU [1] , Mesut ACAR [2] , Alper GERÇEK [3] , Numan Mert TAN [4]

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This paper presents the design and construction of a 12-DoF biped walking robot. The kinematics of electrically actuated 6-DoF legs is similar to that of human legs with three DoF at the hip, one at the knee and two at the ankle joints. The mechanical design of the robot was based on dynamical simulations realized in a modular PC environment. Two communicating software were used in order to solve the forward dynamics of the system and to design walking controllers. Forward, backward and lateral walking as well as stair climbing behaviors with up to 6 km/h forward walking speeds have been simulated in order to determine the nominal power rates required at joints. Hip joints are actuated by DC motors coupled to harmonic reducers situated both in joint axes. The actuators driving the knee and ankle joints are situated higher than the respective joint axes and the rotational output motion of DC motors are transmitted to the joints through linear ball-screw mechanisms. Spherical joints are used within the transmission of spatial motion required for the 2-DoF at ankle joints. All joints consist of absolute encoders and 6-axes force/torque transducers are mounted at the ankle joints. The robot is controlled through an embedded industrial PC running real-time operating system. All electronic control hardware including the motor drivers and sensors communicate through CAN bus. The robot’s mass without batteries is 55 kg and its height is 142 cm.

Biped robot, Dynamical simulation, Design, Motion control
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Birincil Dil en
Konular Yaşam Bilimleri
Dergi Bölümü Mechanical Engineering
Yazarlar

Yazar: Zeki Yağız BAYRAKTAROĞLU
Ülke: Turkey


Yazar: Mesut ACAR

Yazar: Alper GERÇEK

Yazar: Numan Mert TAN

Bibtex @araştırma makalesi { gujs400139, journal = {Gazi University Journal of Science}, issn = {}, eissn = {2147-1762}, address = {Gazi Üniversitesi}, year = {}, volume = {31}, pages = {251 - 271}, doi = {}, title = {Design and Development of the I.T.U. Biped Robot}, key = {cite}, author = {BAYRAKTAROĞLU, Zeki Yağız and TAN, Numan Mert and ACAR, Mesut and GERÇEK, Alper} }
APA BAYRAKTAROĞLU, Z , ACAR, M , GERÇEK, A , TAN, N . (). Design and Development of the I.T.U. Biped Robot. Gazi University Journal of Science, 31 (1), 251-271. Retrieved from http://dergipark.gov.tr/gujs/issue/35772/400139
MLA BAYRAKTAROĞLU, Z , ACAR, M , GERÇEK, A , TAN, N . "Design and Development of the I.T.U. Biped Robot". Gazi University Journal of Science 31 (): 251-271 <http://dergipark.gov.tr/gujs/issue/35772/400139>
Chicago BAYRAKTAROĞLU, Z , ACAR, M , GERÇEK, A , TAN, N . "Design and Development of the I.T.U. Biped Robot". Gazi University Journal of Science 31 (): 251-271
RIS TY - JOUR T1 - Design and Development of the I.T.U. Biped Robot AU - Zeki Yağız BAYRAKTAROĞLU , Mesut ACAR , Alper GERÇEK , Numan Mert TAN Y1 - 2018 PY - 2018 N1 - DO - T2 - Gazi University Journal of Science JF - Journal JO - JOR SP - 251 EP - 271 VL - 31 IS - 1 SN - -2147-1762 M3 - UR - Y2 - 2018 ER -
EndNote %0 Gazi University Journal of Science Design and Development of the I.T.U. Biped Robot %A Zeki Yağız BAYRAKTAROĞLU , Mesut ACAR , Alper GERÇEK , Numan Mert TAN %T Design and Development of the I.T.U. Biped Robot %D 2018 %J Gazi University Journal of Science %P -2147-1762 %V 31 %N 1 %R %U
ISNAD BAYRAKTAROĞLU, Zeki Yağız , ACAR, Mesut , GERÇEK, Alper , TAN, Numan Mert . "Design and Development of the I.T.U. Biped Robot". Gazi University Journal of Science 31 / 1 251-271.