Another type of legged robots is a bipedal walking robot or humanoid robot, which can be designed to implement various functions as necessary and mimic like a human. Often, balance while moving and when the first leg in the swing process and the second leg on the ground is difficult than most other kinds of robots. Two bipedal robot prototypes are designed with 10 degrees of freedom and 17 degrees of freedom to fulfill a gait cycle. The robot's locomotion can also be controlled via two types of microcontrollers, Arduino microcontroller and LOBOT LSC-32 driver. So, the KHR-2HV simulation model by Webots is used to simulate the experimental results of the bipedal robots. The results showed that the cubic polynomial foot trajectory for 10 degrees of freedom and 17 degrees of freedom bipedal robots are (= 4 × 10 −16 3 − 0.0433 2 + 0.4329 + 0.7619 with regression 0.9276) and (= −0.000074 3 − 0.13 2 + 0.671 + 1.1326 with regression 0.939) respectively. After several methods for programming, the bipedal robot by LOBOT LSC-32 driver model is the better than Arduino with PCA 96685 driver-16 channel servo driver. Experimental results carried out during the KHR-2HV simulation model by Webots program. This model gives a better estimation and a fast response to confirm the stability of the10 degrees of freedom and 17 degrees of freedom bipedal robots.

Research into robot compliance has received world-wide interest for many decades. With the proposal of the series elastic actuator (SEA) by Gill Pratt and Matt Williamson 20 years ago, the research in this area has sky-rocketed with many roboticists aiming to create robotic structures that lend themselves to operate safely in the vicinity of humans. The approach proposed by Pratt and Williamson to create inherently compliant actuators has recently found its way into commercially-available products, the Baxter and Sawyer robots -robotic devices that are certified to operate nearby humans, e.g., for use in shared autonomy factory environments. Taking inspiration from the SEA concept and amalgamating new advancements in the area of soft material robotics, we propose the fundamentally new concept of variable series elastic links (VSEL) as a novel component to create manipulation devices that can alter their stiffness to accommodate their dynamic response depending on environmental situations. The proposed VSEL is a link structure made of an inner inflatable chamber and an outer, inextensible fabric sheath that depending on its chamber's air pressure changes its stiffness. Similar to the SEA concept, the VSEL introduces an element of compliance to robotic structureshowever, extending from the standard SEA, the VSEL has a number of advantages: it is low-cost, can be easily integrated into robot arm designs replacing the standard rigid link, can sense interaction forces across the link structure and, most importantly, allows to adjust its stiffness and hence the robot's compliance over a wide range. Exploiting the modeling and control advancements in the area of SEA, this paper explores novel analytical models to improve the understanding of the dynamic behavior of the proposed VSEL with future work focusing on creating a control architecture for VSEL based robot arms. This paper introduces a number of models; future work will investigate their suitability to model the dynamic behavior of VSEL links.