actuator. The natural dynamic behavior could be achieved by control the joints’ torque and angle trajectory, as in the case of CB and eMOSAIC developed by ATR . Another method for adapting natural dynamic behavior is by using actuators with compliant behavior, as in the case of Lucy . The second approach is from the passive walking side. In this approach direct drive or elastic actuators are installed some of the joints of the passive–dynamic walker. Three successful dynamic walking robots
CHAPTER 1 INTRODUCTION 1. INTRODUCTION 1.1Bipedal Robot:- The term bi-pedal robot refers to a robot that walks on two legs. In the recent years there has been much interest stimulated in dynamic walking in bipedal robotics and legged locomotion in general. Part of reason for this interest is the need for robot which can operate in human oriented environments. Human presents a very elegant model of locomotion to emulate. The Bipedal robots will operate in the human environment with much
non-healing chronic injury (Guo S., et al., 2010). The presence of a chronic injury can hinder day to day life and also the affected persons. In case of older peoples, presence of wound can be debilitating them and altogether meddle with their self consideration.