Project Information

Horus Mk.I - My Biped Robot

Synopsis
My biped robot, it walks and uses IMU and force sensors on the joints to keep balance. It is still under development and I work on improving balance and speed. I also started design of the upper body.
Follow me at http://www.avbotics.com
Resources
Created by Arnaud | Forum Thread Link | External Link
2 years
10-20 pounds
3 feet x 1 feet x 1 feet
5-15 minutes
C/C++, MATLAB / SIMULINK
handheld pad
Powersource: LiPO / LiON

Can run on Lipo battery. For development I always use an external 24V DC power supply

Locomotion: Biped

Walks forward and rearward and steer

Controller/CPU: Mini PC + dsPIC boards - I2c Communication

Each individual joint is controlled by a dsPIC board I designed. Sampling frequency is 2 kHz for single joints and 1 kHz for dual joints (ankles).
Global control is made by a mini PC connected to the 12 joints through I2C ports along with IMU. Sampling rate is 80 Hz

Sensors

position sensors (Potentiometers and encoders)
Force sensors on joints
IMU

Actuators

Home designed / Home made worm gear, bevel gear and linear actuators
Output torque over 10 N.m.

Description