Walking Robot
No Thumbnail Available
Date
2014
Authors
Abdullateef Zamel
Mohammad Sukker
Saber Thaher
Journal Title
Journal ISSN
Volume Title
Publisher
Abstract
The name of the project is Walking Robot which is obvious from the name of the project that will be a model for human legs and simulate the walking mechanism of humans. This project consists of two automated legs controlled by IR remote control (TV remote) where each leg is 5 DOF with 5 revolute joints and 5 links connected to the waist. Usually students try to avoid using walking legs in their projects because its very difficult to keep the robot balanced during walking and moving left and right so they use wheels instead of that but in some cases wheels are not effective and not suitable such as in rugged surfaces and rough roads, also this kind of robots can be used in exploring fields and reaching places that is hard for human to reach or hard for wheeled robot to move on. Another aspect is taken in this project that the idea or the thought about robotics and robots are made only to work instead of people or to replace humans, but the idea we try to deliver through this project is that robots can be made to work as a complement for people, for example some people have disabled legs and others have disabled arms, by using robotic legs and robotic arms these people will be efficient people in the society. Recently a lot of companies, universities and large corporations spend million dollars budget to conduct researches about this field and to develop such robots This project is a walking robot that consists of two legs such that each leg contains three links and five revolute joints, where the knee of robot is represented by a revolute joint and the ankle of robot is represented by two revolute joints in addition to the other two revolute joints representing the hip. The hip must be represented by a spherical joint but in this project it is represented by eliminating the rotation about X-axis and two revolute joints, we avoid using spherical joint because its degree of freedom is greater than one but revolute joint has a one degree of free dome so that we can apply the Denavit-Hartenberg notation on the revolute we always try to use revolute joints instead of other types of joints. There are many main reasons for exploring the legged locomotion. The first one is to develop vehicles that can move on uneven and rough terrain. Vehicles with wheels can only move on prepared surfaces such as roads and rails; however, most surfaces are not paved. The second reason is to understand human and animal locomotion mechanics. The study of the mechanisms and principles of control found in nature can help us develop better legged vehicles. The third reason which motivated the study of legged locomotion is the need to build artificial legs for amputees. In order to overcome the limitations and disadvantages of the walking robots (active and passive), researchers have proposed energy-efficient walking robots which can be divided into two major research areas. The first research area is the walking robots with actuators which track the optimized joints angle trajectories. The second research area is the passivedynamic robots with direct drive or elastic actuators installed at some of the joints of the biped. Both of them will be discussed and their advantages and disadvantages are presented.