Analysis and construction of a bipedal walking robot

摘要

The objective of this project was to geometrically model and create a miniature robot that can walk on two feet and to test the feasibility of using the 11 Holy Numbers in future bipedal robots. The purpose was to imitate human motion and to take advantage of the benefits of bipedalism, such as flexibility in terms of accessible terrain, the ability to add on arm-like limbs and prosthetics to neuromuscularly tmpaired humans. The structure of the small-scale bipedal robot was based off Theo Jansen's "11 Holy Numbers", a set of ratios between the lengths of parts and connectors used in creating an artificial leg that could replicate the movement of a human teg [1]. Though they are named the “11 Holy Numbers,” there are actually 13 relevant numbers. The two "extra" numbers deal with the central axis and offset axis that make up the crankshaft, not the actual teg. The 11 Holy Numbers were modified to fit the design of a teg found in a bipedal toy created by Gakken Otonano Kagaku Mook [2]. Since bipedal robots cannot rely on the multi-legged nature of the Strandbeests to ensure balance, the 11 Holy Numbers ratio must be modified to produce the optimal footpath for a bipedal robot. The 11 Holy Numbers have never been applied to bipedal robots, and by doing this, construction of bipedal robots can be made cheaper and more efficient while still being able to harness the existing benefits of bipedalism as stated above. Ultimately, the mechanics of Jansen's Strandbeest can be adapted to utilize the benefits of bipedalism to be applied to foture bipedal robots.