MODELLING AND CONTROL OF HUMANOID ROBOT

Abstract

legged robots have a number of advantages compared with their wheeled counterparts, i.e. navigate rough
terrain and deal with obstacles. The study of leg dynamics is also applicable to prosthetic design and human gait
research. The Humanoid robot has complicated analysis due to so many degrees of freedom. So in this work, Analysis of
leg of the humanoid robot has been considered. Each leg has of four degrees of freedom. So the total degree of freedom
of biped excluding upper part is eight.
The SYMBOL Shakti software has been used to develop the dynamic model of the biped robot and studied about the foot
mechanism also discussing about bond graph model of leg mechanism.