An Approach for the Design of Walking Humanoid Robots Having Different Leg Mechanisms and Using Dynamic Gaits

This article describes a method to design humanoid robots and to generate their dynamic gaits. Firstly, the global design process which defines structures able to carry out dynamic locomotion tasks is explained. Secondly, a set of leg mechanisms are described to generate these tasks. The third section describes a method to produce intrinsic smooth motions for fest walking gaits of bipedal robots having different leg mechanisms. Finally, some simulation results are given.