Indian Journal of Science and Technology
DOI: 10.17485/ijst/2014/v7i12.24
Year: 2014, Volume: 7, Issue: 12, Pages: 2140–2148
Original Article
Ali Haider Arif1, 2, Muhammad Waqas1 , Ubaid ur Rahman1 , Sarosh Anwar1 , Ahsan Malik1 and Jamshed Iqbal1*
1 Department of Electrical Engineering, COMSATS Institute of Information Technology (CIIT), Islamabad, Pakistan; alihaiderarif@hotmail.com, vicky_dear007@yahoo.com, sh_ubaid@hotmail.com, sarosh18_92@yahoo.com, ahsan_malik@comsats.edu.pk, jamshed.iqbal@comsats.edu.pk
2 Cielo WiGle Inc., Islamabad, Pakistan
This research presents a novel, cost effective and indigenously developed educational framework for grasping hands-on concepts of Robotics and Mechatronics. The novelty of the platform lies in its ability to transform its shape from a humanoid to a wheeled mobile robot thus increasing the range of experiments that can be conducted using the proposed platform. The kinematics of the robot’s legs is derived based on Denavit-Hartenberg (D-H) parameters while its 3D model is designed in CAD software. An aluminum-made DC servo actuated prototype consisting of 17 Degree Of Freedom (DOF) bipedal robot with four wheels is then fabricated. Preliminary experiments with the prototype including dynamically stable gait pattern and successful shape transformation and tentative list of experiments using the proposed framework demonstrate efficacy of the platform potentially useful for robotics community academicians, educationalists and hobbyists.
Keywords: Educational Platform, Humanoid Robot, Hybrid Mechanism, Wheeled Mobile Robot
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