Bi-Ped Project 2

(built 2007)

At last I build a successor for my first biped that balances sideways as well. It has 5 servos per leg and one for the inner hip joint that enables the making of curves. Each pair of servos is controlled by a custom-made digital controller and these controllers are instructed by an ARM7 processor running at 60MHz. Goal of this project is to fully control the balancing, as well in static as dynamic walking mode.

Contents:

Increment #1: General outline of the construction and first static balancing exercise.

29cm height, 20cm width, 13cm depth weights 1.1 kg power consumption approx. 3 Watts 11 degrees of freedom Controlled by a LPC2138 (ARM 7 @60MHz), and 8 PIC 16F782 controllers 3 force sensors per feet one 2 axis acceleration sensor Can walk autonomously

Video clips of Bi-Ped II,

• Increment #1 (4.9MB) Balancing exercise based on force feedback

Related Issues:

• Biped
• Mini Biped