Student Work

Control of a Bipedal Robot

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In this project, we developed and modified the Anthropomorphic Robotic Movement System (ARMS) to allow for the simulation and implementation of low-energy walking, standing, and control. The robot underwent an in-depth analysis of its mechanical design, including a retrofit of the cabling system, upgrades to the series elastics, and an implementation of a mechanical gravity compensation system using springs and variable radius pulleys. The electrical system was completely overhauled with new microcontrollers and sensors for better control of the robot. A new control schema with gravity compensation was implemented which allowed the robot to stand. The combination of the mechanical, electrical, and control changes were evaluated via standing and leaning tests, and walking simulations.

  • This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.
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  • E-project-042717-004046
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  • 2017
Date created
  • 2017-04-27
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Permanent link to this page: https://digital.wpi.edu/show/t148fj858