Vinaykumar J. Patel
ABSTRACT
This paper proposes architecture for a biped robot with six DOFs per leg and three DOFs Pelvis with each foot having capability to measure the reaction force. System is controlled by 32-bit microcontroller, sensors, strain gauges, and feedback devices for the balancing while it is on single or double foot posture. It has been observed that balance of 15-DOF biped system is achieved successfully with the help of measuring Zero Moment Point (ZMP) with strain gauge and accelerometer.
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