ABSTRACT
Humankind has always been interested in learning from nature and trying to mimic the activity happening all about in the surroundings. A humanoid robot is the result of this human curiosity. Doing a repetitive task is boring and a source of mental stress for humans. Apart from this work, such as maintenance and inspection work in the plant during the spread of nuclear radiation, working in space or in wartime and pandemic conditions places human life and health at risk. A humanoid robot can be a good option in tackling this type of situation.
The study of whole-body motion is a complicated task; therefore to understand the biped locomotion, a biped robot is used. Here the legs of the biped robot are assumed to be two serial manipulators. Each leg of the biped is assumed to be one 2-R serial manipulator, delayed by the other leg with half of the gait period. Mathematical simulation is done to interpolate the trajectory of the robot path. A third-order spline polynomial is used to determine the biped robot path. To follow the path, inverse kinematics is used. Using MATLAB Simulink, the parameters such as the joints’ angular velocity, angles, and torque, as well as contact forces for the given conditions, are determined.
