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Custombiped ONE

Custombiped ONE is the first complete robot produced by Custombiped. The robot is able to perform human-like walk, and has complete human proportions in its mechanical design. The main specifications of the robot is:

• The mechanical design has human proportions with a height of 58 cm.
• With use of 21 HITEC robot servo motors the robot is able to perform human-like walk.
• All electronics is onboard, featuring a centralized 200 MHz ARM 9 processor.
• Onboard Lithium Polymer battery power supply, gives power for about 2 hours of work.
• Plastic shields mounted to protect onboard electronics.
• 6 strain gauges to measure force displacement, located in each foot.
• 1 IMU, with accelerometer and gyroscope, located in the head.
• Layered software with real-time LINUX OS, control software to ensure stability and software to enable human interaction via a joy pad.

A prototype image of Custombiped ONE can be seen below:

Custombiped ONE can be bought by contacting us with the information provided from our contacts page. A more detailed description of Custombiped ONE is given below.

Mechanics

The mechanical solution used on Custombiped ONE is completely customized. From a starting point, the requirement was that the robot should utilize the benefits of having human proportions. First the height, of 58 cm, was determined. Using this height the proportions of the limbs (arms and legs) could be calculated using the golden ratio found in the human proportions. As the robot should be able to turn while walking, the legs was given 6 degrees of freedom. The robot is able to turn while walking, by using a specially designed hip, which haves 3 degrees of freedom.

Electrical

Plastic

Software

low-level sw
middle level with control and inverse kinematics
upper level

Modeling

Open source software

Unix platform

Layered software, eneable distribution

Low level is drivers to actuators and sensors

Middle level is real-time, OS and control

High level is interface to user and behaviour

NEDESTÅENDE ER KLIPPET FRA CONTROL DELEN, DER ER BLEVET SLETTET.

The control system handles the overall motion and stability of the biped robot. With system it is ensured that the robot maintain balance during stance, walk and work.

Our control system is layered in two and can therefor easily be distributed on several processors for optimization reasons. This further enables you to order either or both of the systems.

On the low-level of the control system is the handeling of fine motion servos and motors. This ensures smoth and precise movement of all limbs. This control level is designed to be faster than the upper-level control, as the upper-level control relies on the correct movement being executed in the low-level.

The upper-level of the control system ensures stability of the robot. Using a hybrid control scheme it is possible o maintain stability in several phases of the robots walk. This is needed since the control scheme is not the same when standing and walking.

Both upper and lower-level control relies on both internal models and feedback from sensors. When using models, internal states can be used as feedback to increase stability and precision. Feedback from sensors is used to make the robot able to respond to changes in the surronding environment.