Optimal Design of Biped Amble Mechanism using Matlab

Abstract

From past decades, the different types of mechanisms in mobile robots have been created so far which includes legged, treaded-tyre and wheeled type robots. Among these types, the wheeled type is easiest to control while the treaded-tyre type offers improved flexibility. Legged locomotion, though not widely used for industrial purposes, has growing implications mainly due to its ease of maneuvering in rough terrains. The Walking motion is obtained through various mechanisms. It is the crank and rocker mechanism, which gives a walking style characteristic of human being. The present research work uses a different type of mechanism for driving a biped that is most distinguished by its ease of operation that produces a type of 'walk' similar to two legged mammals. In this research initially, a multi-objective optimization is carried out for the optimal design of the mechanism. This research involves a simulation of a simple Biped model using Crank-Rocker mechanism. The design of the biped robot is done by considering two important objective parameters stride and lift, a multi objective function must be created and optimization is done by using MATLAB Programming.