World Academy of Science, Engineering and Technology (WASET)
Abstract
This paper presents a new type of mechanism and
trajectory planning strategy for bipedal walking robot. The newly
designed mechanism is able to improve the performance of bipedal
walking robot in terms of energy efficiency and weight reduction by
utilizing minimum number of actuators. The usage of parallelogram
mechanism eliminates the needs of having an extra actuator at the
knee joint. This mechanism works together with the joint space
trajectory planning in order to realize straight legged walking which
cannot be achieved by conventional inverse kinematics trajectory
planning due to the singularity. The effectiveness of the proposed
strategy is confirmed by computer simulation results