StabilityStability, desired locomotion position, and orientation are crucial in the control of bipedal robotsBipedal robot. This paper focuses on the design and analysis of a bipedal robotBipedal robot with a curved knee link versus a linear knee link robot. It also focuses on its own weight balance while moving from one position to another and changing joint anglesJoint Angle without falling. This modified design is also compared with the NAO humanoid robot in real-time. The final bipedal robotBipedal robot model mentioned in this paper is a biped robot with 12 degrees of freedomDegrees of Freedom, with two legs coaxially connected to the hip region. The robot stands about 26 cm tall and weighs about 580 g. The design is symmetric to keep the robot’s center of mass under the lower limb region. Each leg has six degrees of freedomDegrees of Freedom (DOF), which are controlled by an open-loop system. Robots have undergone various design iterations for analysis. The main aim of this analysis work is to examine and compare a suitable link design that provides a stable walk for a bipedal robotBipedal robot. The experimental results show that the curvy link with a biomimetic design is more stable. Compared to a linear-linked robot, the biomimetic bipedal design moves and balances its weight effectively during mobility.
Comparative Empirical Analysis of Biomimetic Curvy Legged Bipedal Robot with Linear Legged Bipedal Robot
Lect. Notes Electrical Eng.
International Conference on Robotics, Control, Automation and Artificial Intelligence ; 2022 November 24, 2022 - November 26, 2022
2023-11-18
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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