A Non-Anthropomorphic Bipedal Walking Robot with a Vertically Stabilized Base

The paper deals with the proposed concept of a biped robot vertical stabilization robot’s base and minimization its sideways oscillations. This uses 6 actuators, which gives good preconditions for energy balance compared to purely articulated bipedal robots. In addition, used linear actuator is self-locking, so no additional required braking or keep it in stable position. direct inverse kinematics problems are solved by means kinematic model robot. Furthermore, task aided solution locomotion on an inclined plane. Special attention focused position center gravity stability motion. results simulation confirm that meets all expectations. can be as mechatronic assistant carrier handling extensions.