Design and simulation of walking operation of a Cassino biped locomotor

Abstract

A mechanical design of a novel Cassino biped locomotor is presented through a dynamics walking simulation. The biped locomotor consists of two tripod leg mechanisms, whose 3-D model is elaborated in SolidWorks® environment. A planning of biped walking gait is performed with waist swinging. Dynamics simulation is carried out in MSC.ADAMS® environment, and results show that the proposed biped locomotor with proper input forces of linear actuators gives limited reaction forces between feet and ground, and has a practical and feasible walking ability on a flat ground.