Design and Analysis of Twin-Motor Anthropomorphic Legged Robot Mechanism Under Various Locomotion

Human movements in daily life are characterized by various locomotion activities. Anthropomorphic robots mobilize similarly to human locomotion in several operations. Humans can perform various locomotion tasks and easily adjust to changes in functions with the required stability due to the biologically stable construction by natural evolution. The anthropomorphic legged robot mechanism has a lot of constraints to match the human performance with passive degrees of freedom. Under certain boundary conditions, anthropomorphic robots can perform superior to humans. But still, the robot mechanisms need to catch up in stability and load-carrying ability. The research proposes a novel design for the lower-body anthropomorphic robot that performs various locomotion such as stair climbing, level walking, running, cycling, lifting, cycling, and sit-to-stand. Here, the proposed new twin-motor design, which simultaneously rotates the crank, performs better in various locomotion concerning the other mechanisms. The primary motivation for designing such a mechanism is to improve stability and increase load-carrying ability with the symmetric design in constructing the mechanism. The load-carrying ability is an essential factor for the strength of the legged robots. The simulation results of the design show the performance improvement in the novel method over the existing mechanisms like Amanda Ghassaei, Hrones-Nelson, Theo Jansen, and Joseph Klann mechanisms. The proposed mechanism is analyzed with various locomotion and the range of input motions. The full range of action by the proposed mechanism satisfies the human-like mimicking performance with high versatility.