Modeling, simulation, and design of a bipedal walking robot

This thesis presents modeling, simulation and design studies within the scope of a Yeditepe University research project entitled ?Biomimetic Biped Walking Robot?, which is funded by TUBITAK. In the thesis, modeling and simulation of a 2-linked simplest walker, development of a synthetic gait generation algorithm and simulations of anthropomorphic and synthetic gaits on a dynamic model are presented. As the focus is to obtain human-like walking, the robot is designed to resemble human proportions in the CAD environment. Selected electrical and mechanical components are detailed and assembled with structural components. Designed and manufactured biped robot has a height of 1 m and a weight of approximately 20 kilograms. The planar biped robot has 6 actuated joints. A realistic simulation environment is created by using an impact-friction contact model and a faithful CAD model. Parameter based synthetic gaits are generated for this robot model. The trajectories are driven by joints of the robot in dynamic simulations. Results of the simulations indicate that designed robot will be able to realize stable human-like walking motion. Thus, reliability of the simulation environment is verified.