Design of bipedal walking robot and reduction of dynamic impact in joints

Thesis (M.S.)--Wichita State University, Dept. of Mechanical Engineering."May 2006."Includes bibliographic references (leaves 73-75).Bipedal walking robots have distinguished themselves from other robots not only for their better mobility but also for the increased amount of complexity in their architecture. The issue of walking stability has inherently been related with these in various aspects from dynamics to controls. It has been defined in various ways for different aspects and these definitions have served as guidelines for designing a walking robot. This research is based on a design of a walking robot and development of a walking trajectory. Among the various approaches implemented in order to attain control of two-legged walking, this study attempted to linearize the walking trajectory by dividing it into finite discrete sections. Using the method of kinematics inversion to generate the initial open loop path, the study looks into implementation of the results for a successful walking mechanism. Further it dealt with stepping velocity control by using ground contact trigger and aimed at reducing the stress developed in joints due to dynamic forces