Construction and Mechanism of a Humanoid Robot leg

Abstract

This thesis describes designs of the robot-leg mechanisms, hardware and the leg control methods for walking machines. The body of knowledge that applies to mobile wheeled robots is quite well developed. However, autonomous walking vehicles are still relatively new, and the body of knowledge concerning their development is not as well defined. The difficulty factor in building a legged robot is also considerably higher than that for a wheeled robot. Physical-based control using center of mass, center of pressure, and foot placement is used to enable a simulated twelve -degree of freedom, seven-link, three-dimensional bipedal robot to lean sideways, pick up its foot and start walking on a flat surface. Energy analysis is used to compel the same simulated robot to do a side-to-side rocking motion and eventually come to a stop. If the robot is pushed hard enough, it will raise its leg that is in the air in the frontal plane to prevent itself from falling. Center of mass and center of pressure analysis is used to enable the same robot to balance on one foot and stand.