Autonomous Biped With

Self Maneuvering Ability

Project Guide:
Ms. Sujata Dubal
Asst. Professor Electronics Department

Group Members:
Nidhi Khetan (33)
Prasad Dugad (15)
Yash Sanghvi (48)
Contents
Abstract
Introduction
Problem Statement
Literature Survey
Principle Of Operation
Component Description
Flow Chart
Results and Discussion
Conclusion
Advantages And Disadvantages
Applications
Future Scope
Acknowledgement
Publications
References
Abstract
Controlling a biped robot with a high degree of freedom to achieve
stable and straight movement patterns is a complex problem
The Kinematic Equations for the standard 7 DOF kinematic structure
have been established, but the complex nature of the equation make
it hard to control
In this project we aim a design of a Partial Passive control of a 4-DOF
biped that allows precise control without using complex equations
Introduction
Bipedal Locomotion
The technique of using legged mechanism instead of wheels
Inspired from the Bipedal Trajectile motion of humans and
similar creatures to develop such systems for specialized
application
Biped Implementation:
Controlling Methods include: Passive Dynamic Walking Motion
and Gait control both have their disadvantages
Introduction(Contd)
Partial Passive Control:
Effective combination of Both Passive Dynamic Walking control
and Gait control can allow convenient control.
Active control is achieved whereas the number of motors to be
controlled are reduced easier implementation.
Problem Statement
The Aim of the project is to implement a Bipedal Structure that can:
Move using motor control to generate authentic bipedal motion
Detect and avoid obstacles during locomotion capable of
detecting left , right and centre obstacles
Literature Survey

Uses one leg actively controlled by motors and one
uncontrolled leg acting as a strut - Reduces the structure to 4-
DOF robot
Equations are reduced to three 2x2 matrix equations - same
can be verified by simple trigonometry:

Principle Of Operation


Principle Of Operation
Block Diagram of Project
Functions
Receives the information from the sensor control board after it
has detected an obstacle.
Generates the PWM waves and transmits them to the motor
control board.
Microcontroller used is ATMEGA 16
Component Description
AVR Based Mother Board
Sensor Control Board

Functions
The high precision IR receiver detects an IR signal
The module consists of 358 comparator IC. The
output of sensor is low whenever it receives IR
frequency and high otherwise
The power consumption of this module is low. It
gives a digital output

Component Description (Contd)
Servo Motor
Component Description (Contd)
Check
Obstacle
Presence
Start
Wait till zero point
reference created
Get real time data
Forward
Move right till
no obstacle
Check for Way
out
Move left till
no obstacle
Repeat
Yes
No
Centre
Flow Chart of the Project
Results and Discussion
Ankle Motor
Angle
Knee Motor
Angle
Thigh Motor
Angle
Step 1 150 140 175
Step 2 140 95 125
Step 3 165 80 125
Step 4 165 80 175
Step 5 165 110 175
Angle of the three motors for the 5 steps
Results and Discussion (Contd)
Angle v/s Time graph for Forward motion
Results and Discussion (Contd)
Angle v/s Time graph for Right motion (Left Obstacle)
Results and Discussion (Contd)
Angle v/s Time graph for Left motion (Right Obstacle)
Matlab Simulation of Biped Walking Motion
Results and Discussion (Contd)
Biped Walking Motion
Results and Discussion (Contd)
Obstacle Detection
Results and Discussion (Contd)
Conclusion
The aim of the project was to construct a prototype of an
autonomous biped with additional features like obstacle detection
systems and thus enabling it to be used for research and
developmental purposes.
Implementing these on a small scale prototype will make it
easier to adapt to these add-ons in a larger model of the project.
It also lead to better understanding of the different parts, their
working with each other and the processes involved in
addition of previously mentioned features.




Advantage And Disadvantage
Advantages
Autonomy of action
Simple algorithm


Disadvantages
Motion on rugged surfaces
External IR inference due to other sources




Application
Thus we are trying to implement an autonomous biped which has
following applications:
Autonomous Manoeuvring of vehicles
Obstacle Detection


Future Scope

Real life model can be implemented.
The Wireless module (without adaptor) can be upgraded.
Identification of the terrain and recognizing the nature of the
environment in which the robot is supposed to move and it
can be done with the help of camera (either single or double)
system mounted on board or off shelf.
Speed of calculation can be increased and the time to process
can be reduced using a faster microcontroller.



Acknowledgement
The timely completion of this report is mainly due to the interest and
persuasion of Prof Sujata Dubal (A.P.) who provided us with guidance
and motivation throughout its making. We also thank her for giving
us an opportunity to create this project.

We are also thankful to our HOD Poorva Waingankar and also our
project cordinator Ms. Sonal Barvey for their guidance.

Finally we would thank our college Thakur College of Engineering and
Technology for providing us with a platform and the necessary
facilties to make this project.
Publications
[1]. Prasad Dugad, Nidhi Khetan, Yash Sanghvi, Autonomous Biped
A Review in Multicon-W 2014, ICWAC, ISBN 978-0-9884925-
4-7, Vol. 1 PP. 376-379, February 2014.

[1] Fumihiko Asano, Zhi-Wei Luo, and Masaki Yamakita,. Biped Gait Generation
and Control Based on a Unified Property of Passive Dynamic Walking, IEEE
Transactions On Robotics, VOL. 21, NO. 4, August 2005
[2] Jong Hyeon Park, Member, IEEE, and Eung Seo Kim , Foot and Body Control
of Biped Robots to Walk on Irregularly Protruded Uneven Surfaces, IEEE
Transactions On Systems, Man, And CyberneticsPART CYBERNETICS, VOL.
39, NO. 1, February 2009
[3] Hyung-Kew Lee, Sun-Il Chang, and Euisik Yoon, Dual-Mode Capacitive
Proximity Sensor for Robot Application: Implementation of Tactile and Proximity
Sensing Capability on a Single Polymer Platform Using Shared Electrodes, IEEE
Sensors Journal, VOL. 9, NO. 12, December 2009.
[4] Nima Shafii1, Siavash Aslani1, Omid Mohamad Nezami1, Saeed Shiry2,
Evolution of Biped Walking Using Truncated Fourier Series and Particle Swarm
Optimization, Mechatronics Research Laboratoy (MRL), Department of Computer
and Electerical Engineering, Qazvin Islamic Azad, April 2010.
sing Sensor Fusion, Kalman Filter, and Fuzzy Logic, IEEE Transactions on
Industrial Electronics, VOL. 59, NO. 11, November 2012.

Reference
Thank You
Video