Design and Modeling of a Walking Robot: A Human Factor Analysis

Abstract

Humans have invented robot to make manual tasks easier. The purpose of robot has been a course of debate for a long time. Still, the development of robots hasn't stopped because of its wide range of applications on a global scale. Robots are designed and classified in different categories. This paper is a work that explains the design, modelling, and control of a biped-line walking robot. The main objective of this paper is to highlight a few results based on the control system and modelling of a biped-line walking robot. The hip joint of the biped-line robot is usually exposed to a lot of drive torque. This drive torque can be minimized by concentrating the centroid of the robot to the axis of hip joint. The paper describes the mechanical structure of the robot. The robot works on a line walking cycle which consist of both a single support phase and double support phase. The movement of the robots are patterned and deduced to understand the locomotion of the line walking robot.