Design and construction of a two leg walking robot

Abstract

This paper describes designs of the two leg robot walking mechanism, hardware architecture and the leg control methods for walking machines. The body of knowledge that applies to mobile walking robots is quite well developed. However, autonomous walking robots are still relatively new, and the body of knowledge concerning their development is not as well defined. The difficulty factor in building a legged robot is also considerably higher than that for a wheeled robot. In this report a brief introduction is given regarding the designing of the two leg walking robot. Brief guidelines for the design of various parts of two leg robot have been shown. Then a study of various robot leg mechanisms is made to identify their applications and advantages. At the end this paper describes the designing, challenges and construction of two leg walking robot.