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Applied Bionics and Biomechanics
Volume 3 (2006), Issue 2, Pages 121-130
http://dx.doi.org/10.1533/abbi.2005.0053

A Computational Mechatronics Approach for the Analysis, Synthesis and Design of a Simple Active Biped Robot: Theory and Experiments

L.-I. Lugo-Villeda1 and V. Parra-Vega2

1Mechatronics Research, Universidad Politécnica de Pachuca, Zempoala Hidalgo, CP 43830, Mexico
2Mechatronics Division, Electrical Engineering Department, CINVESTAV-IPN, Av. IPN 2508, México DF, Mexico

Copyright © 2006 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

Biped walking is a quite complex process that has been mastered only by human beings. Transferring this skill to a robot requires implementing advanced techniques in every aspect. To this end, a computational mechatronics platform was integrated to run the scheme for the analysis, synthesis and design to achieve planar biped walking. The result is an advanced computational tool that integrates advanced modeling and control as well as path planning techniques along with hardware-in-the-loop for perhaps the simplest biped robot. An experimental underactuated three-degree-of-freedom (two active and one passive) active biped robot yields encouraging results; that is, achieving biped walking with this simple device requires adding a telescopic support leg. Considering a more complete dynamic model to take into account frictional and contact forces.