Biped robot prototype based on the human anthropometric measurements

Abstract

This work presents the development of an anthropometric biped robot based on a system with inertial sensors. The objective is to obtain, quantify and analyse information to detect and correct the abnormal posture of the human body either at rest or in motion. The work is divided into 3 sections: 1. Obtaining variables describing the kinematics and dynamics of the bone elements to determine the position in the human body. 2. Imitation of the human body, 3. Quantification of body posture abnormalities at rest and in motion. Two products arise: the first sensorial system capable of obtaining the angles of movement of a person, and second, a biped robot prototype responsible for the imitation of movements.