Design analysis and implementation of a two legged robot system with dynamics and locomotion using various A.I. algorithms

This research shows a design and implementation analysis of a 2 legged Biped Robot locomotion and balance. Designs are presented in its Kinematic chain as well as in its mathematical form in shown as DH- parameters. From the designs, the motion dynamics is analyzed using standard Forward kinematics and Neural Networks in Inverse kinematics. Many Algorithms techniques will be discussed on the Robot´s balance and locomotion but the main focus will be open analysis and implementation of Zero Moments Point (ZMP) and Center of Mass (COM) technique. Implementation of the two algorithms are shown using different A.I. techniques are compared to its linear mathematical approach. The robot is interfaced to a computer for further application of artificial intelligent algorithms namely Neural Nets and Fuzzy Logic. Motion test is applied by setting basic gate movements specifically, walking turning, kicking and standing up when falling. Test will show similar results on both linear calculations and the alternative, unorthodox proposed methods. Also, resulting test will be used in the production of robot gait movements containing ZMP and COM for motion and balance using closed loop system of motion scenes.