Dynamics modeling and analysis of a biped walking robot actuated by a closed‐chain mechanism

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Abstract
We developed a new type of human‐sized biped walking robot (BWR) driven by the closed‐chain type of joint actuator. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 15 degree‐of‐freedom robot including four arm joints and three joints for the head was developed. The BWR was developed to walk autonomously such that all leg joints are actuated by small 90 W dc motors/drivers and dc batteries and controllers which are boarded. The joint actuator for the BWR is composed of the four‐bar‐link mechanism driven by the ball screw which has high strength and high gear ratio. A dynamics modeling of the developed BWR for forward walking is presented in which the revolute joint dynamics are transformed into the prismatic joint dynamics of the ball screw. Also, an analysis on the four‐bar‐link mechanism applied to the joint actuator and on the structure of the BWR is shown. The design specification of the actuating motor for the BWR is analyzed through the torque analysis of the four‐bar‐link actuator. Through walking experiments of the BWR, the walking performance and trajectory tracking ability is shown.

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