DESIGN & IMPLEMENTATION OF A TWO-LEGGED HUMANOID ROBOT

Nowadays, the development of robotic field is developing rapidly. The effort in
developing a robot that can act and think like human has been done by various parties
including the institutions of higher learning and the private company. This paper
presents the design and implementation of a two-legged humanoid robot that capable
of walking forward and backward. The robot is having a total of five degree of
freedom (DOF), which comprises of two DOFon each knee, two DOFon each pelvis
and one DOF used as balancing mechanism. These DOF is implemented using
servomotors and are controlled using microchip PIC16F877 and PIC16F84A. The
most critical part in designing this robot is to achieve its stability especially when it
begins to walk. The stability of the structure is solves using the counterweight
mechanism. The development of this biped is done stage by stage through developing
and modifying the structure, constructing the circuit, programming the controller and
combining both the hardware and software part. The results that have been achieved
are the stable and rigid structure and the walking motion and it will be discussed in
detail in the result part of this report.