DESIGN AND DEVELOPMENT OF AN ANTHROPOMORPHIC BIPED WALKING ROBOT

Biped walking robot with the anthropomorphic design and human like walking configuration is designed, developed and presented in this paper. The biped robot mechanism for straight walking is proposed, its walking principle and mobility are explained. A prototype is developed and experiments are carried out to validate the straight walking gait of the biped walking robot. Biped walking robot dimensions are based on anthropometry of human legs, biped walking robot has one prismatic joint at knee and one revolute joint at the hip of each leg and has 5 degrees of freedom for both the legs. Kinematic and dynamic analysis is carried out for the biped waling robot. The simple forward kinematic and inverse kinematic equations are developed for the model. Dynamic analysis involves the calculations of forces impressed upon different parts of the mechanism, therefore the zero moment point (ZMP) is being used as criteria to check walking biped robot stability. Graphical results have been plotted for the biped walking robot which involves graph of position, velocity and acceleration of different parts of the robot. Performance measures are carried out for biped robot with the use of prismatic joint. The virtual model, analysis and simulation of biped robot are carried out in MSC-ADAMS and 3DS-MAX.