INTRODUCTION

The purpose of this website is to show all the research that has been done to accomplish this project, and at the same time to motivate people of our country and the rest of the world to support this sort of projects.

- Goal of the Project (Download PDF)

Initial Goal

Design and build a initial model of a biped robot, with the capacity to walk in a straight forward direction without loosing dynamic stability.


- Summary of the project (Download PDF)

PHOTOS AND VIDEOS

• VIDEOS:

1) Robot moving video (Download .WMV)

2) Robot walking video (Download .MPG)

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WHITE PAPERS AND FINAL THESIS

The following white papers describe specific subjects about the biped robot:

• Biped Walking Foundations (Download PDF)
• Kinematics of a Biped Robot (Download PDF)
• Inverse Kinematics of a Biped Robot (Download PDF)
• Footstep Planning (Download PDF)

The following archives represent each one of the chapters that conform our engineer thesis based upon the design and construction of a biped robot. Due to its complexity, we have divided the whole project into 2 thesis, the first one deals with the analysis and control of the robot, whereas the second one deals with the electronic and mechanical systems:

- Thesis Nº1. Analysis and Control:

• Preface and Index
• Chapter 1: Introduction
• Chapter 2: Biped walking foundations
• Chapter 3: Simulation of dinamics in MATLAB
• Chapter 4: Kinetic analysis
• Chapter 5: Dinamic analysis
• Chapter 6: Footstep planing and control system
• Conclusion

- Thesis Nº2. Electronics and Mechanics

• Preface and Index
• Chapter 1: Introduction
• Chapter 2: Actuator systems
• Chapter 3: Sensorial systems
• Chapter 4: Mechanical system design
• Chapter 5: Electronic system design
• Chapter 6: Results analysis
• Conclusion

MATLAB SIMULATIONS

• Humanoid Robot Simulation. Part I (Download PDF)
• Humanoid Robot Simulation. Part II (Download PDF)

Download some MATLAB simulations of different basic mechanical systems of a Biped Robot (Matlab 6.5 or later versions are required)

• Pendulum simulation (Download .ZIP)
• Robot's leg simulation (Download .ZIP)
• Kinematics testing (Download .ZIP)
• Inverse Kinematics (Download.ZIP)
• Pendulum simulation using virtual reality (Download .ZIP)
• Complete humanoid robot simulation (Download .ZIP)

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