A new 12 DOF biped robot's mechanical design and kinematic analysis

Abstract

This paper decribes the progress of an humanoid biped robot project and mainly focuses on its mechanical design and kinematics analysis. This project, which started in 2009, is aiming at the realization of the lower part of an humanoid biped robot. As the first step to finish the biped robot's overall development, a novel mechanical structure was designed with two legs, two feet and a pelvis. It has 12 degrees of freedom. The robot's body shape and mass distribution is similar to that of an adult with the purpose to get an ideal stable walking movement. In this paper, first we discuss the robot's basic configuration, joints structure, transmitters, and sensors, second an approach to the analysis of one leg's forward kinematics and inverse kinematics is introduced.