Design of A Bipedal Robot via Modular Actuator

Bipedal robot is a main part of humanoid robot. In general, the greater the number of degrees of freedom of a robot, the more sophisticated electro-mechanical design and the more adaptable ability of a robot. There are many ways to construct a bipedal robot. One of them is to construct it directly with several modular actuators. The advantage of modular design is that it can reduce the complexity of the system. In this paper, a bipedal robot that consists of 12 modular actuators is introduced. Firstly, a modular actuator with a double support structure and a bipedal robot constructed by these modular actuators are introduced. Then, gait planning and simulation of this robot based on zero moment point principle is introduced. Finally, the prototype of this robot is presented and discussed.