Kinematics Analysis of Leg Configuration of An Ostrich Bionic Biped Robot

Abstract

Bio-inspired biped robots require high level dynamic control when walking or jumping. Compared with 4 or 6 legged robots, mechanisms of biped robots are more complicated and have more DOFs, which means both kinematical and dynamic models are more complex. In this paper, we formulated the kinematic models of ostrich bionic biped robot, which apply serial-parallel hybrid mechanism with 13 joints (5 active, 8 passive) each leg. The mechanism topology patterns are analyzed during walking, jumping and standing. We defined the feet as 5-DOFs end-effectors and both forward and inverse kinematic models are formulated using screw theory. An ordinary walking gait based on inverted pendulum was used to test the models and the results show that the robot can walk very well in simulation environments. The research of this paper has obvious application significance for the design, iteration and control of ostrich bionic biped robot.