Let's Make Robots!

Charles the Planar Biped

Charles was a Planar Biped designed to choreography a human's walking pattern over a flat terrain. Its main design was a Planar Biped Model, a bipedal robot in which it needed guided balance to walk, or using a long bar to keep its stability.

Charles was a Planar Biped designed to choreography a human's walking pattern over a flat terrain. Its main design was a Planar Biped Model, a bipedal robot in which it needed guided balance to walk, or using a long bar to keep its stability. At all times, Charles was connected via a computer with two USB ports, and was programmed with the Linux programming Language. It's specific trials were recorded three times in the end to make a perfect choreographed walking pattern. Charles' approximate assembly time was a period of 96 hours (4 days), and after assembly, the programming took over a period of 24.5 hours (1.5 days). Charles was an individual project for me, and was not designed and constructed by any other individual.In addition to many pictures, there is a you tube video of me explaining how it was designed and all the walking trials there had to be before Charles' would be able to walk.Note: the video is best viewed using Google Chrome.

A closeup view of Charles' wiring and NXT MicrocontrollersA closeup view of the connection wiring of CharlesA picture of Charles sitting downa downward view of Charles

Comment viewing options

Select your preferred way to display the comments and click "Save settings" to activate your changes.

I can't hide that I'm a Bipeds fan. One thing that I'm always want to know is: how many torque have the Lego servo motors?

Thanks much! I'd have to say for each servo, the torque is about 30kg-cm.  In each leg, the total torque is 90kg-cm, and that multiplied times two is 180kg-cm total. With that being said the complete torque of Charles is 180kg-cm.However, Charles needs guided balance for its stability to be equal.