Design and Stability Analysis of Biped Robot with Walking Pattern Synthesis

Abstract

With respect to mobility the legged systems are excellent ones. Now a days biped robot is evolved to a great extent from its basic design due to the requirement of the precision between human and robots. In this paper the focus is on designing a biped robot and then deriving mathematical expressions for its stability during walking. The biped is designed in solidworks software package which has 6 degree of freedom. The robot needs a smooth trajectory to walk properly with stability in various environment. This is done by constraints of foot motion parameters which is derived from ground conditions. This process is basically an iterative process. The whole idea is illustrated by a simulation done on v-rep software package by using the logic derived from mathematical expressions. The walking speed was around 3(km/h) with step length 0.8 m/step and step period 0.6s/step which resembles the walking parameter of human being. The method was finally validated by an experiment.