A bio-mimetic biped robot with a coupled link mechanism and endoskeleton framework

An endoskeleton anthropomorphic biped robot is designed and realized in this paper. The endoskeleton structure with coupled link mechanism is aimed for robot´s high power efficiency over its weight, but it demands unique structure and devices of the robot coping with the complexity. New gadgets developed for the robot: a linear actuator, closed link mechanism, coupled parallel actuation system and two-axis joint, are described. The corresponding design procedure inevitably becomes sophisticated, so the powerful design tool to deal with this difficulty is utilized. Sensor based Feedback control scheme was established for its stable walking. Based on the outcome of the design, analysis, and simulation data, the actual robot was constructed and the paper shows its successful experimental results.