Design and Implementation of humanoid biped walking robot mechanism towards natural walking

摘要

This paper presents the implementation of the specifically designed humanoid biped walking robot legs towards natural walking. The humanoid biped walking robot legs employs ideas from both the active-actuated biped robot legs and the passive dynamic walkers. The approach is primarily based on the utilization of shock absorber and parallel linkage mechanism, which drastically decreases the requirement of actuator output force thus enables the humanoid biped walking robot legs to achieve higher efficiency while remain lower cost than traditional design. The specifically designed mechanism also provides better support than conventional humanoid biped walking robot. The walking algorithm that combines "Series Elastic Actuation" and "Limit Cycle Walking" permits the robot to move in more natural way. The experiment along with simulation and analysis demonstrate the high potential and possibilities of this concept and introducethe new direction towards the naturally walking humanoid robot legs design.