Abstract

MARTINEZ SARMIENTO, Fredy Hernán; GOMEZ, Edwar Jacinto  and  ZARATE DIAZ, Diego Alexander. Anthropometric humanoid robot concept for research in control. Tecnura [online]. 2015, vol.19, n.spe, pp.55-65. ISSN 0123-921X.  https://doi.org/10.14483/udistrital.jour.tecnura.2015.SE1.a04.

For the further research on passive/active walking control, an anthropomorphic mechanical prototype for a bipedal robot consisting of 10 DOF (degree of freedom) is represented in this article. Based on the concept that a robot that works and interacts with humans must interact with environments designed for humans, we propose a biped robot mechanical design inspired by human proportions. Since the purpose of this prototype is to develop control schemes, the profile of design is complemented by the selection of parameters to facilitate laboratory work, such as size, materials and actuators. During development, we managed to specific the biped structure design from design criteria, and the conclusions reached from the analysis of robotic designs related nationally and internationally. The final design was developed in SolidWorks, and the mechanical dimensioning was tuned from dynamic simulations in MatLab.

Keywords : bipedal robot; human locomotion; structural design.

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