Design and Control of a 13-DOF Biped Robot Using Human Gait

This paper presents a new biped humanoid robot, as well as control strategies to be implemented for walking and balance recovery. The ultimate design goal was to design the structure to be as close to a lower part of human body as possible. Therefore, golden-ratio-based human body proportions and proper number of degrees of freedom of the lower part are used [1]. The biped has 12 actuated DOE in the lower body: three at each hip, one at each knee, two at each ankle as well as 1 additional DOF at its torso. Each degree of freedom is powered by a force controllable actuator. To achieve human like trajectory, human walking data has been used [2]. To insure both stability and human like trajectory, a torque compensator is added to the one DOF at the torso. The Biped is designed in Solid Works and simulated in SimMechanic and COSMOSMotion. The movement of the joints are achieved by motors and harmonic drives. The contact between sole and ground is considered to be elastic and is modelled using spring and damper in horizontal and vertical directions [3]. Finally, control of the biped is performed using a PID control scheme and each of the 13 motors achieve desired human like trajectory.