Fast Prototyping and Testing of a New Full Scale Bipedal Robot

Umurzakov, Timur; Yessirkepov, Sharafatdin; Folgheraiter, Michele

doi:10.1109/icrae56463.2022.10056190

Cited by 2 publications

(2 citation statements)

References 13 publications

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“…Figure 7 shows a comparison between three different designs of the foot. For more details about the foot design, please refer to [50].…”

Section: Mechanical Designmentioning

confidence: 99%

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NU-Biped-4.5: A Lightweight and Low-Prototyping-Cost Full-Size Bipedal Robot

Folgheraiter,

Yessirkepov,

Umurzakov

2023

Robotics

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This paper presents the design of a new lightweight, full-size bipedal robot developed in the Humanoid Robotics Laboratory at Nazarbayev University. The robot, equipped with 12 degrees of freedom (DOFs), stands at 1.1 m tall and weighs only 15 kg (excluding the battery). Through the implementation of a simple mechanical design and the utilization of off-the-shelf components, the overall prototype cost remained under USD 5000. The incorporation of high-performance in-house-developed servomotors enables the robot’s actuation system to generate up to 2400 W of mechanical power, resulting in a power-to-weight ratio of 160 W/kg. The details of the mechanical and electrical design are presented alongside the formalization of the forward kinematic model using the successive screw displacement method and the solution of the inverse kinematics. Tests conducted in both a simulation environment and on the real prototype demonstrate that the robot is capable of accurately following the reference joint trajectories to execute a quasi-static gait, achieving an average power consumption of 496 W.

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“…Figure 7 shows a comparison between three different designs of the foot. For more details about the foot design, please refer to [50].…”

Section: Mechanical Designmentioning

confidence: 99%

“…(b) PLA prototype with a thickness of h = 15 mm. (c) TPU prototype with a thickness of h = 15 mm.For more details about the foot design, please refer to[50].…”

mentioning

confidence: 99%