There are various types of robots, ranging from large robot arms such as those used in factories to cleaning robots used in the home. In this research, the subject is considered to be the replacement of human beings, and humanoid bipedal robots, which have many similarities with humans, are treated. Although wheeled or fixed lower-body robots are in actual use in society, they still have some inconvenience in terms of mobility. The advantage of humanoid bipedal robots is that they can eliminate mobility disadvantages and operate without problems in a human-optimised environment. Current humanoid biped robots include Digit by Agility Robotics and HRP-5P by National Institute of Advanced Industrial Science and Technology (AIST), both of which were announced in 2020. Problems with these robots include the huge size of the hardware system, the large number of specially designed parts, and the power supply. The main objective of this research is to make motor control compact by outsourcing part of the hardware system to a PC and constructing the system using a microcomputer. At the same time, productivity was increased by minimising the number of specially designed components and using general-purpose components.

Yamada Hiroki

Ando Miu