Biped Robot


There are many ways to create a biped robot, and each way has many challenges. Thinking about the design, just how many joints do we need (hip, thigh, knee, foot)? Indeed what is the smallest number of joints we need to create a walking biped? These questions will be explored in your literature review. Also you must consider the required robot behaviour; is walking along a straight line sufficient, what about going around curves? And is the behaviour restricted to walking? What about hopping or skipping or running? Indeed what are the biped gaits observed in the natural world and which of these can be transferred to a robot? Any which of these are useful for a robot. Walking up and down stairs, walking over an uneven surface? Again, all stuff for your literature review.

This project will use an Arduino (or other) microcontroller, and you will need to fabricate the robot components which will need 3D printing (available). The controller code could be straightforward procedural (where you will instruct each joint to move) or using Central Patter Generations, small neural networks inspired by living bipeds.

Primary research will involve collecting data from the robot and analyzing this according to a planned investigation, e.g., how do various parameters affect the speed of movement, which parameters can generate walking, running and other gaits.

Colin Price
Research Question
Proposed Primary Research