built by Jaap Havinga

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Target Environment Locomotion Method
Indoors 2 Legs
Sensors / Input Devices Actuators / Output Devices
force feedback from servos servers
Control Method Power Source
Autonomous Battery
CPU Type Operating System
Intel 80x86 N/A
Programming Lanuage Weight
C++ 1.2 kg
Time to build Cost to build
several months $300
URL for more information
BiPed is a 27 cm high bi-pedestal autonomous walking robot. The work is still in progress, and up to this point the robot is capable to walk over small obstacles without falling. The only function right now is walking, but will be extended in future. The robot has 7 degrees of freedom, and is controlled by a i80386ex, together with two PIC 16F84A aux. controllers. I use hi-torque servo's that are modified to feedback a force-measurement. The robot took several months to build, and to redesign (of course not day and night). The main problem up till now appeared to be the lateral stability of the robot. Also, the dynamic control, when dealing with uneven terrains is a hard problem. Cost-indication: about $300. Email:

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