Development of a Small-Sized Bipedal Robot with 6-Axis Parallel Link Leg Mechanism: 2nd Report

Abstract

A new design of bipedal walking robot that utilizes 6-dof parallel link mechanism for each leg is proposed. Reducing the weight of the legs is a crucial requirement for realizing rapid walking and fall avoidance involving multiple stepping. The parallel link design enables embedding all leg actuators in the torso and thereby significantly reduce the weight of the legs. The result of basic kinematic analysis of the proposed leg mechanism is reported.