Biped Robot Driven By Single Actuator

Abstract

Humanoid robots have always been a fascination for the human race. The biped robots are the most primitive form of humanoids which can exist. A biped robot can closely replicate the walking cycle of the humans. However to produce this cycle and to maintain its walk, the conventional biped robots utilize a number of actuators. The conventional styles of bipeds consist of an actuator to drive almost each joint individually. This individual control of each joint makes the control system complicated, demands high power, reduces the speed (If manually controlled) and requires large amount of feedback. Thus to reduce these losses and increase the output, a set of mechanisms can be used instead of actuators. It is found that if the number of mechanisms is increased by a meager amount then the actuators can be minimized to unity. The concept of a biped robot replicating the human walk cycle can thus be achieved by a single driving actuator.