Dp 297 en
Author: Marek Peca
Construction of a biped walking robot, its hardware, basic software and control design are being presented in this thesis. Primary goal achieved is a static walking with noninstantaneous double support phase and fixed trajectory in joint coordinates. The robot with two legs and no upper body is capable to walk with fixed, manually created, static trajectory using simple SISO proportional controller, yet it is extendable to use MIMO controllers, flexible trajectory, and dynamic gait. Distributed servo motor control over a CAN fieldbus is used. Important points in construction and kinematics, motor current cascaded control and fieldbus timing are emphasized.