Spejbl – the Biped Walking Robot

Construction of a biped walking robot, its hardware, basic software and control design is presented. Primary goal achieved is a static walking with non-instantaneous double support phase and fixed trajectory in joint coordinates. The robot with two legs and no upper body is capable to walk with fixed, manually created, static trajectory using simple SISO proportional controller, yet it is extendable to use MIMO controllers, flexible trajectory, and dynamic gait. Distributed servo motor control over a CAN fieldbus is used. Important points in construction and kinematics, motor current cascaded control and fieldbus timing are emphasized. The project is open and full documentation is available.