|BRAIL 1.0 :: Bio-Robotics Activities in Locomotion|
BRAIL 1.0 is a two-legged mechanism developed in Mechatronics and Automation laboratories in National University of Singapore in 2006. This is a platform to study common bipedal activities found in human being. This platform is used to study the bipedal activities such as walking, obstacle avoiding and stair-climbing. This robot can walk or follow a curvilinear path by programming the controller placed on the hip-plate even without any weight on the upper-body.
BRIAL 1.0 has twelve degrees-of-freedom (DOF). Each DOF is realized by an actuator or a motor. BRAIL 1.0 uses motors with networked control architecture. The motors are controllable simultaneously with single command from the DSP-based controller board. That makes the system-response time less. The controller reads the angular positions and velocities of the motor which are used as feedback for generating desired motion. The controller board communicates with PC through RS-485 communication protocol. The complete dynamics and inverse-kinematics of the system is developed and used to generate different gaits of the robot. The walking gaits are optimized offline using genetic algorithm (GA). The GA is used to find optimal gait trading off between stability margin and speed of walking. The stability margin was indicated by one ZMP-based function while speed is indicated by step length.
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