The design of a humanoidal biped for the research on the gait pattern generators

Abstract

It was proven that it is possible to build a gait pattern generators, producing the human-like leg joints trajectories. For this purpose the van der Pol equations, as well as the neural networks can be applied. A robot described in this paper will serve as a platform for research on implementation of the mentioned gait pattern generators in the bipedal antropomorphic structures. The paper contains the detailed design process description, especially the dynamic analysis process. The mechanical design methods, as well as the designed preload mechanism and the foot compliance are also presented. © 2007 World Scientific Publishing Co. Pte. Ltd.