Post by ARYAN KUMAR

✨ Sharing something I am genuinely proud of — our 10-DOF Bipedal Humanoid Robot capable of walking and self-balancing. ✨ 𝐂𝐎𝐑𝐄 𝐈𝐃𝐄𝐀 The objective was to develop a 10-DOF humanoid robot capable of stable locomotion while maintaining balance We implemented the Zero Moment Point (ZMP) principle, where stability is maintained as long as the resultant ground reaction forces lie within the support polygon of the feet. Simple in theory, challenging in practice. 𝐇𝐎𝐖 𝐖𝐄 𝐌𝐀𝐃𝐄 𝐈𝐓 𝐌𝐎𝐕𝐄 • Forward Kinematics — determined foot position from joint angles • Inverse Kinematics — computed joint angles for desired trajectories • Path Planning — ensured smooth, stable, and continuous walking 𝐁𝐈𝐆𝐆𝐄𝐒𝐓 𝐂𝐇𝐀𝐋𝐋𝐄𝐍𝐆𝐄 Signal distortion from the Arduino Mega initially affected performance. After debugging, we traced it to hardware and resolved it through PCB redesign, significantly improving stability. Another big challenge was to determine the conditions which was one of the crucial part for path planning. 𝐖𝐇𝐄𝐑𝐄 𝐖𝐄 𝐏𝐑𝐄𝐒𝐄𝐍𝐓𝐄𝐃 • Sankalp — MNNIT • TechExpo, Botrush — Robotics Club These platforms helped us refine our understanding and presentation of the project. 𝐀𝐂𝐊𝐍𝐎𝐖𝐋𝐄𝐃𝐆𝐄𝐌𝐄𝐍𝐓𝐒 I would like to sincerely thank my teammates Surya Bhan Singh, Shiva Jadaun, Risabh Rawat, and Abhigyan Shukla for their dedication and teamwork throughout this project. I am especially grateful to our mentors Krishna Raj Agrawal Sir, Alok Gupta Sir, and Aditya Gupta Sir for their constant guidance, valuable insights, and support at every stage of this work. This project has been a significant learning experience, strengthening both our technical understanding and practical problem-solving skills. #Robotics #HumanoidRobot #Engineering #MNNIT #Innovation