Kinetic Pace: Bipedal Robot

Abstract

This project focuses on the design and development of a bipedal robot that utilizes the natural dynamics of the Inverted Pendulum Model to optimize energy efficiency. The robot incorporates a code parser, similar to a G-Code parser in CNC machines, for precise control and motion planning. A key feature of the robot is its serial-parallel hybrid leg mechanism, which combines serial and parallel mechanisms to optimize workspace and load distribution. The primary objective is to design and build a bipedal robot that maximizes energy efficiency using the Inverted Pendulum Model. Secondary objectives include the implementation of a code parser and an embedded system for robot control, as well as testing the robot’s performance in simulated and real-world environments. The outcomes of this project, including the architectural and mechanical designs, and the code parser, will serve as a foundation for the subsequent project, which will focus on implementing an improved controller design. This future phase aims to validate the effectiveness of the enhanced algorithm in enhancing stability and energy efficiency during practical applications.