Realization of a Biped Robot Lower Limb Walking without Double Support Phase on Uneven Terrain

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td align="left">Weight (kg)</td><td align="center">Trunk: 12.53<br/>A single leg: 13.61</td></tr><tr><td align="left" colspan="2"><hr/></td></tr><tr><td align="left">Size (mm)</td><td align="center">Height in <svg height="15.825" id="M4" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 17.8375 15.825" width="17.8375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.538)"><path d="M698 636l-541 -596q60 -5 176 -5q91 0 138.5 5t69.5 24q44 36 85 124l29 -15q-38 -125 -64 -173h-559l-9 16l545 598h-182q-81 0 -109 -8t-48 -31q-26 -29 -55 -103l-29 3q23 86 42 200h22q11 -16 21 -20.5t34 -4.5h428z" id="x1D44D"></path></g>
<g transform="matrix(.012,-0,0,-.012,12.313,15.613)"><path d="M383 397q0 -32 -35 -49q-12 -6 -23 8q-37 45 -84 45t-90 -71q-40 -65 -40 -167q0 -57 22 -86t59 -29q38 0 81.5 24.5t69.5 51.5l16 -21q-44 -53 -104 -84t-109 -31q-56 0 -89.5 41t-33.5 117q0 61 30 124t79 105q33 28 81 50.5t86 22.5q34 0 59 -15.5t25 -35.5z" id="x1D450"></path></g>
</svg>: 882.36<br/>Width in <svg height="15.4" id="M5" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 17.125 15.4" width="17.125" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M667 650l-9 -28q-53 -5 -76 -17t-64 -59q-51 -61 -175 -225q-21 -29 -27 -55l-27 -136q-13 -65 -0.5 -80t83.5 -22l-7 -28h-280l8 28q64 4 81 19t30 83l25 128q6 35 -7 65l-98 231q-17 41 -32.5 52t-68.5 16l8 28h252l-6 -28l-40 -4q-27 -3 -33 -12.5t2 -31.5
q8 -26 43 -107.5t61 -134.5q114 145 174 240q14 24 8 33t-37 13l-34 4l8 28h238z" id="x1D44C"></path></g>
<g transform="matrix(.012,-0,0,-.012,11.6,15.187)"><path d="M383 397q0 -32 -35 -49q-12 -6 -23 8q-37 45 -84 45t-90 -71q-40 -65 -40 -167q0 -57 22 -86t59 -29q38 0 81.5 24.5t69.5 51.5l16 -21q-44 -53 -104 -84t-109 -31q-56 0 -89.5 41t-33.5 117q0 61 30 124t79 105q33 28 81 50.5t86 22.5q34 0 59 -15.5t25 -35.5z" id="x1D450"></path></g>
</svg>: 482<br/>Length in <svg height="15.4" id="M6" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 19.0375 15.4" width="19.0375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M775 650l-6 -28q-60 -6 -81.5 -16t-61.5 -54l-175 -191l125 -243q30 -58 48.5 -71t82.5 -19l-5 -28h-275l7 28l35 4q31 4 37 12t-6 34l-108 216q-140 -165 -177 -219q-16 -22 -10.5 -30.5t41.5 -13.5l22 -3l-7 -28h-244l8 28q52 4 75 15.5t67 52.5q48 46 206 231
l-110 215q-26 51 -44 63t-72 17l6 28h250l-6 -28l-27 -4q-30 -5 -35 -10t3 -27q17 -43 95 -190q70 78 154 185q15 21 10 29.5t-33 12.5l-30 4l5 28h236z" id="x1D44B"></path></g>
<g transform="matrix(.012,-0,0,-.012,13.525,15.187)"><path d="M383 397q0 -32 -35 -49q-12 -6 -23 8q-37 45 -84 45t-90 -71q-40 -65 -40 -167q0 -57 22 -86t59 -29q38 0 81.5 24.5t69.5 51.5l16 -21q-44 -53 -104 -84t-109 -31q-56 0 -89.5 41t-33.5 117q0 61 30 124t79 105q33 28 81 50.5t86 22.5q34 0 59 -15.5t25 -35.5z" id="x1D450"></path></g>
</svg>: 440</td></tr><tr><td align="left" colspan="2"><hr/></td></tr><tr><td align="left">DOF</td><td align="center">Hip: 2<br/>Knee: 1<br/>Ankle: 1</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Specifications of the hydraulic biped robot.

Journal of Control Science and Engineering

tab1

Table 1

Table 1: Realization of a Biped Robot Lower Limb Walking without Double Support Phase on Uneven Terrain 