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BIPEDAL ROBOT
Under guidance of
Dr T Jayaraju
Professor,
Dept of mechanical engineering,
NIE
ROBOT
Cartesian robots
Cylindrical robots
Spherical robots
Articulated robots (robotic arms)
TYPES OF ROBOTS
2. Wheeled robots
Single wheel(ball) robots
Two-wheeled robots
Three and more wheel robots
3. Legged robots
Bipedal robots (humanoid robots)
Tripedal robots
Quadrupedal robots
Hexapod robots
BIPEDAL OR HUMANOID ROBOTS
A humanoid robot is a robot with its overall appearance based on that of
the human body.
A humanoid is a automated machine that replaces human effort and
resembles human beings in appearance or perform functions in a
humanlike manner.
WHY HUMANOIDS?
• A passive dynamic walker with single DOF per leg which walks with a stable
gait down a smooth incline
PASSIVE DYNAMIC ROBOT
ASIMO Walking down the stairs Robot by Toyota which plays violin
KINEMATIC ANALYSIS
Applying equations (1) and (2) relation can be obtained for the position
of the end-effectors.
The advantage of this method is that the stability margin can be large
if the desired ZMP is designed near the center of the stable region.
However, since the change of the ZMP due to hip motion is limited,
not all desired ZMP trajectories can be achieved.
• Wikipedia (http://en.wikipedia.org/wiki/Robot)
• (http://asimo.honda.com/)
• Russ Tedrake, Teresa Weirui Zhang, Ming fai Fong, and H. Sebastian Seung.
Actuating a simple 3d passive dynamic walker.