Bi-Ped Project

(built 2000-2001)

I started this project to find out how difficult it would be to construct a robot that walks like a chicken. The aim was to build a compact robot that is capable to walk in common indoor conditions, without the requirement of operating on a smooth floor. I describe the development in terms of increments. Several increment descriptions include video-clips of the walking Bi-Ped.

Contents:

• Increment #1: First hardware setup.
• Increment #2: Ankle added, PIC-controller added for testing. 
• Increment #3: Hip-joint added, i386board added, walking alone for first time.
• Increment #4: Enforced hardware, servo controller doubled in precision, force feedback.
• Increment #5: Modified walking function, enhanced software.
• Increment #6: Yet another gait: big steps,
• Increment #7: Study on another version.

27cm height, 25cm width, 10cm depth weights 1.2kg power consumption approx. 10Watts 7 degrees of freedom Controlled by i80386ex, and two PIC 16F84A aux. controllers Can walk autonomously, can walk over small objects, can make curves. Typ. speed 1 m/min

Video clips of Bi-Ped, all in MS mpeg4 V2 codec:

• Increment #2 (157kB) Walking under control of the PC.
• Increment #3 (141kB) Walking without any help.
• Increment #4 (665kB) Walking over a booklet.
• Increment #5 (1.3MB) Walking over a seesaw.
• Increment #6 (587kB) Walking with big steps over a seesaw.
• Increment #6 (643kB) The Biped goes upstairs.
• Increment #7 (267kB) Simulation of a biped with 10 degrees of freedom

Related Issues:

• Servo controller
• Battery charger
• Simulation of a walking Bi-Ped (Java applets)
• 3D simulation of a walking BiPed
• Mini Biped
• Biped II