Biped Robot Analysis

The dynamic modeling shows us that the design of the biped robot prosthetic should be designed as a free-falling manipulator with no fixed ground. It has the Body Position Reference Generator with a position reference to the mass center of the prosthetic which is sent as input to body posture controller that determines the limbs position of the prosthetic in relation to the mass center by taking consideration of the force exerted by the body and the environment. It has a reactive force controller that regulates the amount of force created by the robot. This data is fed to a workspace position controller which determines the position in which the prosthetic has to move which provides the joint torques to move the biped robot. From this movement

For this purpose, a biped robot with heterogeneous legs (BHRL) is used. The first part is the human knee which is composed of bone, ligament, muscle, and nerve. The interface of the thighbone and shinbone which is illustrated in the following

The ICR of 4-bar knee is the point of intersection of ant-bar and post-bar prolongation, therefore is multi-centric. The 4-bar knee is possible to offer a higher step up height to the ground with smaller flexion angle. The dynamic performance mimic a human knee. The biped robot with artificial legs composed of many interconnected parts capable of delivering a nonlinear movement includes a mimic leg hip joint, quick to comprehend bionic leg and adaptable prosthetic foot. The prosthetic foot is lined to IBL, so bionic leg has 4 degrees of play which is smaller and simpler than human movement. The length of the legs are adjustable to the user’s requirement and the knee made up of a Magneto-Rheo-Logical damper [6] or by applying a central pattern generator scheme [7]. The core direction to the design of the prosthetic knee should be load transfer which transfers the load from the human user to the prosthetic to determine the amount of force to be applied [8]. The control of BHRL is obtained using its dual leg configuration. It includes one artificial leg (Master) and a bionic leg (Slave). The Slave leg tracks the master leg in relation to kinematics and dynamic variables so the bionic leg will not have independent gait cycle and the required gait cycle is of the artificial leg’s (Master)