Microcontroller based walking robot with multi-degrees of freedom movement.

Hasrul Che Shamsudin; Mokhtar Hashim; Erna Nooryanti Azmi; Anton Satria Prabuwono

Author(s)

Hasrul Che Shamsudin Electrical Engineering Department, Politeknik Sultan Haji Ahmad Shah, Semambu, 25350 Kuantan, Pahang Darul Makmur

Mokhtar Hashim Electrical Engineering Department, Politeknik Sultan Haji Ahmad Shah, Semambu, 25350 Kuantan, Pahang Darul Makmur

Erna Nooryanti Azmi Electrical Engineering Department, Politeknik Sultan Haji Ahmad Shah, Semambu, 25350 Kuantan, Pahang Darul Makmur

Anton Satria Prabuwono Faculty of Information Science and Technology, Universiti Kebangsaan Malaysia, 43600 UKM Bangi, Selangor Darul Ehsan, Malaysia

Abstract

In designing a walking robot, a power supply issue must be considered which is the required power to generate movement of the joint using a servomotor and the required of a suitable algorithm to enable the robot to move. In addition, the use of suitable devices to allow users to move the robot also should be considered. The objectives of this study is to develop the walking robot using minimum number of servomotor. The minimum number of servomotor allows the walking robot to minimize the power consumption while construct a program that can produce coordination of multi-degree of freedom for the movement of the robot. The project also tried to use PS2 joystick to allow users to control the robot forward or backwards and turn the robot to the left or right. The parameters studied include determination of the minimum voltage amount required to sustain the burden of the output which are servomotors used. Besides that, servomotor rotation angle at each joint in order to move the robot s feet and the use “USART” protocol to allow the microcontroller to communicate with a PS2 joystick driver circuit. It is found that four servomotors are sufficient to produce the basic walking robot and two voltage regulators are needed to control the load where one voltage regulator capable of supplying enough current to drive two servomotors for each leg.

Publication Details

Page(s) 572-578

DOI DOI not available

Published Journal: Journal of Theoretical and Applied Information Technology, Volume: 46, Issue: 2, Year: 2012

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