Design and Simulation of a Biped Locomotor with Walking and Turning Operation
A study on the mechanical design and walking and turning operation of a biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degree-of-freedom (DOF) tripod leg mechanisms and a turning waist mechanism. Gait analysis in terms of straight walking and turning is performed by coordinating the motions of the two legs and waist mechanisms. A 3D CAD model is elaborated in SolidWorks® environment to characterize a feasible mechanical design of the proposed biped locomotor and a corresponding dynamic model is built in the MSC.ADAMS® environment to evaluate the walking and turning performance of the proposed gait. Simulation results show that the proposed biped locomotor performs a practical and feasible walking and turning motion on flat surfaces with reasonable actuation forces of linear actuators and limited reaction forces between its feet and the ground.
KeywordsBiped Locomotor Gait Analysis Dynamic Simulation
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