Optimum design of mechanism biped robot with heterogeneous legs

To provide an ideal platform for the R&D of intelligent bionic legs, a new pattern of humanoid robot, i.e., the biped robot with heterogeneous legs (BRHL), is proposed. The concept of BRHL and the reason for investigating it are given with its bionic design described. Taking a bionic leg as example, the kinematic model of BRHL is developed since various mechanical structures of both legs are similar. Then, the principle of optimization, objective function and constraint conditions of BRHL design are discussed. The optimum design was done according to the processed data of normal person's gait, and the result indicated that BRHL can implement well the anthropomorphic gait and is an ideal platform for R&D of intelligent bionic legs.