Design and Experimental Implementation of Bipedal robot
Sreejith C, Sreeshma K
Abstract
Biped robots have better mobility than conventional wheeled robots, but they tend to tip over easily. To be able to walk stably in various environments, such as on rough terrain, up and down slopes, or in regions containing obstacles, it is necessary for the robot to adapt to the ground conditions with a foot motion, and maintain its stability with a torso motion. In this paper, we first formulate the design and walking pattern for a bipedal robot and then a kicking robot has been developed for experimental verification. Finally, the correlation between the design and the walking patterns is described through simulation studies, and the effectiveness of the proposed methods is confirmed by simulation examples and experimental results.
Keyword
Ball kicking, biped robot, stability, walking pattern generation.