A Simulation Based Approach to Designing a Bipedal Robot

The process of building robotic prototypes is time consuming and costly. Therefore, a simulation based approach was taken to design and develop a bipedal robot. This involved modelling the robot as a slider-crank mechanism, with an energy based approach to determine the maximum hopping height of the robot. Monte-Carlo simulations were performed on this model to determine the optimal actuator as well as the link lengths for the femur and tibia, in order to maximise the hopping height of the robot (0.81m), as well as the vertical specific agility. Following the simulation study, a thorough mechanical design process was performed, making use of the results from the simulation study. Finally, the robot was manufactured and tested. Results showed that the bipedal robot could successfully perform double foot continuous hopping at 1.7Hz, achieved a specific agility of 3.34 (m/s)
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, with results matching the simulation study, showing the success in the approach taken to design the robot.