can someone tell me how MPU-6050 data(pitch raw yaw) are send to the servos(angles) by arduino? i really dont know about this module(MPU-6050)/gryo-accerometer .I need a biped to keep stable in a position and to make it walk. so far i read that i need to find the center of mass for each move while it's walking forword. but i don't know how to measure the center of mass using MPU6050. can someone help me explain the procedure and the code?
i don't know how to measure the center of mass using MPU6050
You can't.
There are plenty of tutorials on the web showing how to work with the MPU6050 using an Arduino. I find Google to be very useful in such circumstances. Try it!
need some basic ideas that how do i start? what data/information i need? how to use MPU6050 for my project? how does it make my robot not fall while walking?
Google "self balancing robot" for lots of ideas and complete project descriptions. For example: http://www.intorobotics.com/5-best-examples-build-diy-self-balancing-robot/
ahasanEEE:
can someone tell me how MPU-6050 data(pitch raw yaw) are send to the servos(angles) by arduino? i really dont know about this module(MPU-6050)/gryo-accerometer .I need a biped to keep stable in a position and to make it walk. so far i read that i need to find the center of mass for each move while it's walking forword. but i don't know how to measure the center of mass using MPU6050. can someone help me explain the procedure and the code?
Some thought on static stability in bipeds:
A biped needs a foot to be statically stable. Otherwise you are forever balancing on two points, and that is not what bipeds do.
If you know where the center of gravity (that is the balance point) is you can figure out what movements are stable. That is where it doesn't tip over.
The width of the foot is the width of that box. For this to work in a biped you need an ankle that you can control.
You must be able to statically walk before you dynamically walk. The steps for static will be shorter. You need enough momentum to walk with a full stride, as the extremes of that stride are no longer statically stable.
I have no interest in bipeds, but I have done measurement on graph paper for quadrupeds, in particular for a cat. The geometry of a cat is such that it is statically stable on 3 legs in a wide assortment of possibilities.
Humans, horses, cats and birds have the same or similar bones, they differ in sizes and orientations as they have evolved to suit the purpose of that animal. Consider modeling on a biological entity as that geometry works.