  This paper addresses the design and development of an autonomous biped robot
using master and worker combination of controllers. In addition, the bot is
wirelessly controllable. The work presented here explains the walking pattern,
system control and actuator control techniques for 10 Degree of Freedom (DOF)
biped humanoid. Bi-pedal robots have better mobility than conventional wheeled
robots, but they tend to topple easily. In order to walk stably in various
environments, such as on rough terrain, up and down slopes, or in regions
containing obstacles, it is necessary, that robot should adapt to the ground
conditions with a foot motion, as well as maintain its stability with a torso
motion. It is desirable to select a walking pattern that requires small torque
and velocity of the joint actuators. The work proposed a low cost solution
using open source hardware-software and application. The work extends to
develop and implement new algorithms by adding gyroscope and accelerometer to
further the research in the field of biped robots.
