Determination of kinematic parameters of a passive bipedal walking robot moving on a declined surface by image processing

  • Authors:

  • Ahmad Bagheri;Amir Hajiloo;Salar Basiri

  • Affiliations:

  • Department of Mechanical Engineering, University of Guilan, Rasht, Iran;Department of Mechanical Engineering, University of Guilan, Rasht, Iran;Department of Mechanical Engineering, University of Guilan, Rasht, Iran

  • Venue:
  • ISCGAV'05 Proceedings of the 5th WSEAS International Conference on Signal Processing, Computational Geometry & Artificial Vision
  • Year:
  • 2005

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Abstract

Designing and manufacturing mechanisms that are able to move on a slope according to the gravity has been an issue of the interests of researchers recently. In this paper the designing and manufacturing a Passive biped robot with 3 degrees of freedom is presented. This robot is able to move down on slope with a minimum tangent based on the gravity and without any controller or any supplier. After presenting the governing equations and the dynamic of the robot, a computer simulation is done. Finally a comparison between the results from the physical model and the results from the numerical simulation is done to check the validity of the project.