Design, analysis and simulation of biped running robot

Abstract

Legged systems are potentially expected to have outstanding mobility. However, they have shown only modest levels of capability to traverse on flat ground. This paper introduces a biped robot inspired by the hind limbs of cats. We present the characteristics of the system and conduct a position analysis based on vector loop equations. Afterwards, the ground clearance and parallel movement of the robotic leg are shown. We present a speed equation in an effort to verify how the major parameters affect the speed. In addition, we explore control strategies for ground speed matching, acceleration, slip, and speed control. A dynamic simulation shows that the biped robot reached 13.31 leg lengths per second (9.3km/h). This biped robot with the speed equation and its control strategies allow us to understand legged locomotion and can show us how to improve the speed.