Design and Simulation of Walking Operation of a Cassino Biped Locomotor

A mechanical design of a novel Cassino biped locomotor is presented through a dynamics walking simulation. The biped locomotor consists of two tripod leg mechanisms, whose 3-D model is elaborated in SolidWorks (R) environment. A planning of biped walking gait is performed with waist swinging. Dynamics simulation is carried out in MSC. ADAMS (R) environment, and results show that the proposed biped locomotor with proper input forces of linear actuators gives limited reaction forces between feet and ground, and has a practical and feasible walking ability on a flat ground.