Sprainy: Design and Prototype Development of an 8-Degree-of-Freedom Walking Biped Robot

Theoretically the birth of the humanoid robot arises from the study of human characteristics of movement. However, following the human model does not mean copying it. It is still a big challenge to develop an advanced humanoid robot. Most researchers have shown an interest in developing an ideal theory to keep the balance in various grounds while walking since it is so important for the survival of biped robots; however, there are very few discussions on optimizing mechanical design to enhance the control of biped robots. In this article, we present the concept, design and construction of a biped robot, called “Sprainy,” and concentrate on the possibility of using optimized mechanical design to improve the workspace of its feet. The desired system criteria, design alternatives, final design selection, kinematics and design of the robot are presented. Keyword Biped robot, Sprainy Robot, Humanoid, Zero Momentum Point (ZMP)