Biped mechanism analysis for walking robot applications

This thesis presents a design of biped robots and a cubic spline interpolation based walking trajectory generation method. First for one single step, the foot and hip trajectories is generated by the concept of the cubic spline interpolation. Then it is explained that which design criteria the biped robots ATHO and RUBI have. Also, the joints properties such as joints angles and torques so on are calculated by using inverse and forward kinematic methods. After the simulation of walking trajectories, it is shown the clarification of mechanical structure and actuator specification and experiment results of obtained from walking pattern. While the biped robot is moving, the balance of robot is controlled by the dynamic stability criteria, which is called Zero Moment Point (ZMP).