During my undergrad studies at UW, I started to work on the electromechanical design and dynamic modelling of a lower body humanoid (biped) robot. The biped has 14 degrees-of-freedom (DOF) and will ultimately be used to verify the efficiency and efficacy of the proposed walking control strategy being explored in my research. The project was funded under the NSERC Engage Grant with industry collaboration partner Quanser.
Controller design was completed in the Simulink environment with the help of Quanser’s QUARC toolbox. Multibody dynamic simulations during the design phase were carried out in SimMechanics with full 3D visualizations provided by QUARC.
All 14 DOF of the biped are actuated by Faulhauber’s Coreless DC motors and high precision gearheads. Drivetrain components (gears, bushings, etc) were sourced from Misumi USA. Electronics and other control hardware (power amplifiers, data acquisition boards, etc) were provided by Quanser.