Omni-Biped with LeJOS

Hello all, please find here our version of Omni-Biped (one creation from Daniele Benedettelli's book 'Creating Cool Mindstorm's NXT Robots'). We have also implemented the exact version of Omni-Biped given in the book, which can be found at the location Omni-Biped. So let me list the changes which we have made in our version of robot: 

• We have implemented our own additional hardware of the robot, which can be considered a taller upper part of the body
• We have also implemented the head, which can be moved through 180 degrees, close to human head
• We have implemented additional software which will move the head through 180 degrees 

Rest of the functions are as per the original version of the robot, which are: We can move the robot forward, backward and make it take a turn. It also moves its head around while turning. All this is done with a small Java program with LeJOS NXJ. Please find the Video clip of the robot's performance and the corresponding Java program below. 

Let me explain the LeJOS program a little. This is a simple program compared to the program inspired by single-Task C program from the book, which I implemented in LeJOS. We have kept this program as simple as possible, just because it is made for children of age 10 to 12. This program does not have the logic for re-align legs in the beginning or after taking a turn. However, we realized that without re-aligning legs, the robot functions almost similar to its original version. That might be because of its solid mechanical assembly. If we set both A and B motors forward, the robot moves forward. If we move the motors backwards, the robot moves backwards. If we move one motor forward and the other backwards, the robot turns. We have used motor C to rotate the head. the head rotates in 90, -180 and 90 degrees sequence. This sequence brings the head back to the original position. This sequence is repeated again and again while turning. Turning and moving the head tasks work parallelly. Please check the below Java program, load it into your NXT kit and see if you get same results. 

Hope you enjoyed the article!