Advancing Humanoid Robotics: Leg Control and Locomotion

In this study, we introduce a control system tailored for biped humanoid robot legs, drawing inspiration from human locomotion patterns. This system leverages inertial measurement units (IMUs) to accurately track the orientation and motion of human lower limbs. The core of our data processing and control algorithm implementation relies on the Arduino Uno and Arduino Nano microcontrollers. For motor control, the PCA9685 16-channel 12-bit PWM servo driver is employed, facilitating precise command of the servo motors for refined movement control. The robot’s leg incorporates three servo motors to manipulate its joints, thereby allowing for lifelike and agile leg movements. This control system is crafted for agility and precision, enabling the robotic leg to navigate varied terrains and execute walking tasks, mirroring human leg patterns. Through integrating IMU data with an effective motor control system via Arduino platforms and the PCA9685 driver, our goal is to attain good stability and functionality in the biped humanoid robot’s leg movements.