Development of a Lightweight Biped Robot
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Date
2017-05
Authors
Aubakir, Bauyrzhan
Journal Title
Journal ISSN
Volume Title
Publisher
Nazarbayev University School of Science and Technology
Abstract
Robotics, as a research and technical field, finds inspiration in nature. In particular,
bipedal robots, which structure and kinematics reproduce the lower limbs of a human
body, are the first step toward functional humanoid robots. This document describes
the development phases of a lightweight biped robot under construction at the department
of Robotics and Mechatronics in Nazarbayev University. The mechanical
design is the primary focus of this work; nevertheless, a big effort was also dedicated
to formalize and realize the electrical, sensorial and software subsystems. By using 3D
printing techniques and lightweight materials a lower power consumption and higher
power over weight ratio was reached in comparison with state-of-the-art robots having
comparable dimensions. Furthermore, thanks to a lower links inertia the system is
inherently safer when operating in environment where humans are present. A detailed
description of the robot kinematics and the methodology followed to dimension the
actuation system is provided together with preliminary results on the execution of
different postures and gaits.
Description
Keywords
Lightweight Biped Robot, robotics
Citation
Bauyrzhan Aubakir. Development of a Lightweight Biped Robot. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev University