12 DOF Bipedal Robot Design: Kinematic Analysis and Dynamic Simulation

Objectives: Bipedal robots are robotic systems designed to mimic the walking and balancing abilities on different terrain of humans. This paper represents detailed kinematic analysis and reference model-based control design for 12 Degrees of Freedom (DOF) bipedal manipulator. This study also evaluates the robot’s stability and gait generation capabilities through dynamic simulations. Methods: A CAD model is developed and simulated in MATLAB/ Simulink/ Simscape multibody by considering the inverse kinematics, cubic polynomial trajectory, foot contact forces, step size and Center of Mass (COM). The Zero Moment Point (ZMP) is utilized to guarantee the static stability of the envisioned bipedal robot. Findings: The result of this analysis provides valuable insights into the design and control of bipedal robots with a high degree of freedom, paving the way for more advanced applications in the field of robotics. The robot replicates the walking pattern of the human on flat terrain by keeping COM at constant height of 0.904 m. Novelty: The proposed lower limb model is developed using anthropomorphic data and a comprehensive investigation of the development phases of bipedal robot has been evaluated. Moreover, descriptive analysis has been carried out for the movement of each joint angle which is derived from dynamic simulation. Keywords: Bipedal Robot, Lower Limb, Kinematic Analysis, Gait Pattern, Simulation