Design and Operation Analysis of a New Biped Mechanism

This paper presents a new biped mechanism, which has been designed with main features for low-cost and easy-operation. The biped mechanism is supposed to have the same basic motion capabilities as conventional multi-actuator biped robots, such as straight walking, changing direction, overcoming obstacle, descending and ascending stairs. Furthermore, with two wheels installed on the shank, the biped mechanism has two basic walking modes, which are legged mode and wheeled mode. Walking with proper mode for different environments makes the biped mechanism possess the advantages of both legged and wheeled robots.