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\title{Servo actuated bipedal walking robot.}
\author{A project in IN5590 by Vetle Horten Olavesen Email: vetlehol@ifi.uio.no}

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\textbf{Kevin the robot B)}
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        \section{Intro}
          This project focused on the design, development, and implementation of a servo-actuated bipedal robot capable of achieving forward locomotion. The system integrates servo motors controlled by a fairly simple python script, all of which is mentioned below. The goal of this project was to explore the challenges of bipedal robotics, while providing a foundation for future works.\\ 
          
          Some goals for this project:


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            \item Implement servo control to make the robot move, it will not balance on its own, but will move forward while being attached to the walking hub to help it stay balanced.

            \item Be able to change the speed of the robot in real time.

            \item Get a better understanding of gait mechanics.
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        \section{Tools}
        Tools I used for this projects include:\\

        
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            \item SolidWorks for design.
            \item Cura for slicing and 3D printing.
            \item Dynamixel AX12 x 6
            \item Silicone pads for the feet.
            \item Walking Hub in MoCap lab
            
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        Software: Python with DYNAMIXEL SDK package. The python script was uploaded to the walking hub in the Mo-Cap lab.
        
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        \section{Conclusion}

        I managed to have the robot walk forwards while connected to the walking hub, maybe not as smooth as I wanted it to be, but it works as it should. A possible solution to smoother movement could be to optimize a controller to develop smoother walking patterns. \\ 
        
        However I was not able to make the robot change speed. This is something that could be implemented in future works.\\
        
        If given the time, it could also be interesting to implement direction control, changing direction and speed real-time with a joystick or another type of controller.
        
    
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    \centering\includegraphics[angle=-90,width=.8\linewidth]{2.png}\\
    \textit{Robot walking.}\\
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    \textit{Design of the robot.}
    

    
    
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