Critical Issues for Biped Mechanism in achieving Dynamically Stable Legged Locomotion

This paper introduces an experimental small-sized biped mechanism that will be used to perform a dynamically stable smooth terrain walking. Some of the necessary criteria for biped locomotion are thoroughly explored. These criteria are actuator’s power, structural weight, leg-link design, and the computing hardware capability. All the criteria are taken into account during the course of constructing the biped mechanism. The resulting design is a 50 centimeters high biped mechanism that weighs about 2000 grams and possesses 14 degrees of freedom. The real-time computing hardware and the power source are off-board. The biped is compared with other selected prototype of the same class. The results are shown in the form of comparison metric and MATLAB dynamic simulation.