Design of Lower Limbs for a Humanoid Biped Robot

Design of Lower Limbs for a Humanoid Biped Robot

  As the first task in the development of a humanoid biped robot, we designed the lower limbs of the robot. After analyzing the torque and speed requirements of all 12 joints by the simulation of motions, we selected the suitable motors, gearheads and pulleys. We developed the lower limbs of the robot based on the simulation results. The trajectory tracking control of each joint angle was performed experimentally. With the off-line trajectory data, the robot successfully imitated walking motions such as a standing up and sitting down motion with one leg. Therefore, we verified the validity of our rough design approach by this experiment.