DESIGN, SIMULATION, AND VALIDATION OF A HUMANOID TORSO FOR BIPEDAL ROBOT GAIT STABILIZATION

Abstract

This project focuses on the design, simulation, and validation of a humanoid torso for bipedal robot gait stabilization. The primary aim is to improve balance and minimize lateral motion during walking by incorporating two degrees of freedom (DOF) in the waist joint. The project involves developing simulation for different robot configurations and gaits with the focus on comparing their performance in terms of energy efficiency in PyBullet simulation environment as well as early real life prototype tests based on the simulation data. The experiments clearly demonstrate the improvements caused by incorporating the upper body of the bipedal robot as a means of balancing in terms of energy efficiency by reducing the lateral movement in the lower body. Real life prototype tests have shown that closed loop control is necessary to avoid disturbances and effects of unideal conditions which are not present in the virtual environment. With the results acquired during this project, further experiments on the upper body motions can be carried out to improve bipedal walking gaits.