2P1-D05 Development of a Biped Dynamic Walking Robot for Manufacturing Education : Control Performances of Turning Motions(Manufacturing Education and Mechatronics/Enjoy Mechatronics DIY(2))

Abstract

The biped dynamic walking robot by controlling the center of gravity has been developed by the authors as a material for manufacturing education in technical high schools. The previous robot could walk only straight in dynamic manner by swinging a weight to the right or left with one servo motor. In this study, it was shown that the motion of turning right or left could be make by tilting the center line of the swing motion to the right or left respectively. Motion control of the direction to walk was also achieved by using infrared devices embedded in wireless-control cars.