Design and fabrication of Anthropomorphic Robotic Elegant System Operated with Notable Assistance ARESONA

 This work shows electronics and mechanics of a bipedal robot prototype. The objective of this project is to build a platform to study the walking of biped robot and to prove some intelligent control techniques.  Wheeled vehicles are best when used on flat surfaces like roads. Enha

Project Title

Design and fabrication of Anthropomorphic Robotic Elegant System Operated with Notable Assistance ARESONA

Project Area of Specialization

Robotics

Project Summary

 This work shows electronics and mechanics of a bipedal robot prototype. The objective of this project is to build a platform to study the walking of biped robot and to prove some intelligent control techniques. 

Wheeled vehicles are best when used on flat surfaces like roads. Enhancements have been made to adapt to rough terrains such as track-laying apparatus and innovative suspensions. However, as the roughness of the terrain increases, a point comes where even with the enhancements, the wheeled vehicles will prove inferior to legged vehicles. We have taken up this project to overcome the disadvantages of wheeled robots and to prove the advantages of legged robots on rough terrain.

• Technical problems due to balance issues in the robot like selection of appropriate (i.e. light weight) material for making the legged robot, This problem can be solved by making better design of foot and ankle area.
• ZMP of the robot is difficult to find due to the lightweight materials used in fabricating the robot.
• The main problem is in the walking control of a biped humanoid robot is the stabilization or structural stability. Since controlling the robot’s Center of Mass (CoM) provides significant aid in maintaining static balance and given the complexity of the problem, we overcome this problem by considering better gait analyzing techniques.

Project Objectives

The main objective is to make 3d model of biped robot and also to make the robot walk with stability 

Another objective for making biped robot is to create a platform for research . Secondly the interaction of people to interact with walking robots with a natural-looking walking robot, rather than robots with a nonhuman shape. 

Thus, it is desirable to create legged machines for transport over such terrains. There are several good reasons for developing bipedal walking robots, despite the fact that it is technically a difficult task to implement algorithms for reliable locomotion in such robots than in e.g. wheeled robots.

The objective is to redesign the robot with unique design which will allow the robot to balance relatively easily.

Project Implementation Method

The Literature review plays a vital role for our project  We gain important insights by reviewing assortment of literature available on our topic. By reviewing literature we gain an approach, knowledge, and more awareness on our chosen topic .

Biped robot design should be based on a design methodology that produces an appropriate mechanical structure to get the desired walk, for this we use 3d CAD modeling to design our robot. Next step is to make sure that our design is appropriate to use or not , for this purpose we use matlab simulink software to simulate our project by this procedure we also get some input requirement and also proper angular measurements. this procedure is also required for calculating COM (to gain the stability it is required) and defining the behavior of biped robot .We make the algorithm for walking robot with stability (Gait analysis techniques). After this fabrication is the challenge, we fabricate our project on aluminium sheet. After this we assemble our robot according to our designed model. 

The motors was calibrated by checking the maximum angle at which the ZMP remained at the center of foot. This is done by using Potentiometer input for servo control. Some servos are calibrated by manually changing the angle by giving it constant values.
After completing the hardware model we apply weight on legs and check that if the robot is stable or not . Then after finding the best answer we make upper body of the robot. Making upper body is relatively easy task because it doesn’t require stability at every moment and according to IEEE research paper the controlling of upper body is just the reverse process of lower body.

Benefits of the Project

Biped Humanoid Robot is a wonderful project for learning and displaying biological behavior in Robotics. Obviously the project is inspired from human walking mechanism and tries to mimic the behavior of human walking. Because human walking is considered to be one of the most efficient movement system on earth.

We believe legged locomotion is going to be analogous to the automotive industry, in terms of size and how it transforms our society. We all want helper robots in our homes. We all want easiness in our lives and want  goods delivered to our homes on a moment’s notice and for insignificant cost. Aresona is the step in this direction .It plays a great role in making possibilities of helping .Our aim besides making this innovation was to create a robot that anyone could use or play with.

This humanoid robots constructed to resemble humans and designed for single-use purposes. So it can generate better way to fit with our need. Aresona is designed with a specific task of assistance. Basically the robot having human characteristics such that it can walk, stabilize and stand like humans. This robot features some mechanical innovations like a special knee joint and foot design thus mimicking human walking properties to achieve more natural looking walking patterns.

Technical Details of Final Deliverable

• The sophisticated mechanical structure is designed with proper measurement and calculations.
• Two different 3D Cad software models.
• Drawing sheets of parts.
• Simulations of model on Matlab simulink.
• Hardware model of biped robot.
• Human gait algorithm comparision with Robot gait.
• Software implementation of robot on microcontroller.
• Hardware capabilities to be used in detailed simulation models.
• Implementation of design principles in biped, using inertial sensors.
• Making the robot easier to handle by the user and also easy to understand simulation programs.
• ARESONA will maintain the centre of gravity (CG) in such a way that it does not get toppled off.

Final Deliverable of the Project

HW/SW integrated system

Type of Industry

Education , Manufacturing , Transportation , Security

Technologies

Artificial Intelligence(AI), Robotics

Sustainable Development Goals

Industry, Innovation and Infrastructure, Life on Land

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com