Walking Simulation of Biped Robot: A MATLAB/Simulink Module Approach

Abstract

Objective: This research aims to replicate a human-like walking gait in a bipedal robot through meticulous mechanical design and engineering. The primary objective is to provide quantitative evidence of the robot\'s capabilities and to compare its performance with existing bipedal robots. Methods: A highly detailed biped robot model, featuring 12 degrees of freedom (DoF), was crafted using 3D CAD software. Subsequently, this model was imported into the Simulink simulation environment within MATLAB. The focus of the simulation was on achieving bipedal locomotion along a straight path on level terrain. The walking pattern was generated using two key concepts: the 3D Linear Inverted Pendulum model (LIPM) and the Zero Moment Point (ZMP) concept, implemented with MATLAB/Simulink tools. The robot\'s performance was quantitatively measured in terms of stability, walking speed, and energy efficiency. Comparative analysis was conducted against similar bipedal robots to demonstrate the advancements achieved. Findings: The research resulted in a bipedal robot with a 12-DoF configuration that closely emulates human joint articulation. Quantitative analysis revealed that the robot achieved a stable and realistic bipedal locomotion. When compared with existing bipedal robots, our model demonstrated superior stability, an increased walking speed, and improved energy efficiency. These numerical results provide concrete evidence of the practicality and feasibility of the proposed biped robot design. Novelty: The novelty of our research lies in its unique approach, as evidenced by the comprehensive quantitative analysis. While conventional bipedal robot designs often lack detailed numerical justification, our work provides a quantitative foundation for assessing performance. The design\'s fidelity to human physiology, combined with the numerical superiority over existing robots, sets it apart, offering a promising avenue for achieving more human-like movements in robotic systems. Keywords: Walking, Biped Robot, LIPM, ZMP, Simulink, Simulation