Modeling and Designing of Bipedal Walking Robot

Abstract

A humanoid robot is a robot with its body shape built to resemble the human body.The design may be for functional purposes, such as interacting with human tools and environments, for experimental purposes, such as the study of al locomotion or for other purposes. In general, humanoid robots have a torso, a head, two arms, and two legs, though some forms of humanoid robots may model only part of the body, for example, from the waist up. Some humanoid robot also have heads designed to replicate human facial features such as eyes and mouths. Andriods are humanoid robots built to aesthetically resemble humans. It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. Furthermore, dynamic walking is more efficient than static walking. For a biped robot achieve dynamic balance while walking, a dynamic gait must be developed. Two different approaches to gait generation are presented an intuitive approach using software for gait animation, and a periodic approach that provides a scalable gait with parameters for controlling step length, step height and step period. A bipedal robot also requires a control system to ensure the stability of the robot while walking.