Low-Cost Mini Humanoid Robot Mechanical Design for Mini Humanoid Robot Contest Intercon 2021

Ronny Vilavila, Frahan Justo, Ruben Florez, Nicolas Figueroa

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

Abstract

This paper describes the mechanical design of a low-cost mini humanoid robot for the Mini Humanoid Robot Contest Intercon 2021. The objective is to provide a robot model with the appropriate characteristics to program control and locomotion applications within reach of anyone. BERT is made up of 16servomotors (DOF), distributed 10 in the legs and 6 in the arms controlled by a PCA9685 driver; the body is assembled with 3 mm thick MDF pieces, and the device that controls the robot's march is an Arduino pro mini. The mechanical design of the leg, arm, and torso provides balance to the robot and possesses enough strength to perform movements without the risk of breaking. The results show that the presented design is stable and consistent for programming control and locomotion applications.

Original languageEnglish
Title of host publicationProceedings of the 2021 IEEE 28th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665412216
DOIs
StatePublished - 5 Aug 2021
Externally publishedYes
Event28th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021 - Virtual, Lima, Peru
Duration: 5 Aug 20217 Aug 2021

Publication series

NameProceedings of the 2021 IEEE 28th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021

Conference

Conference28th IEEE International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
Country/TerritoryPeru
CityVirtual, Lima
Period5/08/217/08/21

Keywords

  • bipedal robot
  • low-cost
  • Mechanical design
  • medium-density fiberboard MDF
  • mini humanoid robot

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