In this thesis, a 28cm-high biped robot of lower limbs is developed and a periodic gait algorithm is presented based on a human walking pattern. 10 RC servo motors are used to operate the joints. Three micro-controllers are implemented to control these motors.
Generally, there are two walking patterns, here static walking and dynamic walking. To make the robot walk dynamically, two gait generating methods are considered, where the robot can perform dynamic walking with 10cm step-length and 1 sec step-time.
The first method employs the cubic spline interpolation to generate gait. The second method named "singularity walking algorithm" is aimed at imitating a human walking pattern. In the singularity walking algorithm, the near singular point region is used to generate a gait. This walking pattern can reduce power consumption.
Computer simulation and experimental results demonstrate the applicability of the walking algorithm for the periodic gait.
