Design and Development of a Biped Robot

摘要

Many researchers have been encouraged to investigate the design, posture and stability of biped robots in order to replicate the anthropoid gait. This paper addresses the design and development of a bipedal robot. It presents a combination of the design considerations and simplicity of design to provide a test bed for autonomous biped robots. Kinematic models of the biped robot are also developed and simulated prior to experimentally verifying the performance of the system. Overall, a low cost, open system biped robot is the underlying objective on which new gait algorithms and controllers will be developed to further the research in the field of humanoid robots.