Determination of kinematic parameters of a passive bipedal walking robot moving on a declined surface by image processing

摘要

Abstract: Designing and manufacturing mechanisms that are able to move on a slope according to the gravity has been an issue of the interests of researchers recently. In this paper the designing and manufacturing a Passive biped robot with 3 degrees of freedom is presented. This robot is able to move down on slope with a minimum tangent based on the gravity and without any controller or any supplier. After presenting the governing equations and the dynamic of the robot, a computer simulation is done. Finally a comparison between the results from the physical model and the results from the numerical simulation is done to check the validity of the project.