Open AccessEmbedded Walking Algorithm for Biped Humanoid Robot with 17 Degrees-of-Freedom
Author(s) -
Sherif M. Sherif,
Jordan Kralev,
Tsonyo Slavov,
Veselin Kunchev
Publication year - 2019
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/618/1/012004
Subject(s) - arduino , humanoid robot , computer science , software , realization (probability) , servomotor , robot , sequence (biology) , joint (building) , algorithm , simulation , embedded system , artificial intelligence , engineering , mathematics , operating system , architectural engineering , statistics , biology , genetics
The realization of the control algorithm consists of two main stages: planning of a joint coordination sequence and implementation of an embedded walking algorithm in the Arduino Mega 2560 hardware platform. The joint coordination sequence consists of 13 steps in order for the humanoid robot to move forward without falling. The embedded walking algorithm is realized around the operating points of the servo motors. The software is developed in Arduino IDE in C language.