DESIGN AND DEVELOPMENT OF 6 DOF BIPEDAL ROBOT AND ITS WALKING GAITS1

Kuppan Chetty Ramanathan, Deenadayalan Ganapathy, Joshuva Arockia Dhanraj, and Manju Mohan

Keywords

Bipedal robot, walking gait, humanoids, DH matrix, support polygon

Abstract

This work focuses on the design and development of a 6 degrees- of-freedom bipedal robot and its walking gaits. The kinematic structure of the biped resembles the human lower limbs that aid the locomotion mechanism for humanoids. Two types of walking gaits, namely normal walking and crouch walking that maintain the centre of mass inside the support polygon in a 2D environment in a sagittal plane, are developed and addressed in this work. Forward kinematics (FK) and inverse kinematics (IK) techniques are used in this work to model the gaits to have a stable motion with static balance that is necessary for its locomotion. FK is used to obtain a relationship that relates the position of hip and swing leg in terms of all joint variables. Then, the IK is used to obtain the joint variables in terms of position and orientation that affect the bipedal locomotion by a given desired position in a sagittal plane. Experimental studies are carried out to investigate the stability of the developed walking control algorithm both qualitatively and quantitatively in different step sizes and walking gaits in laboratory conditions. Theoretical and experimental results show the stability of walking gaits during locomotion and prove the design to be correct and feasible.

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