Modeling and simulation of biped kinematics using bond-graphs

Robots are considered as ideal multidomain or mechatronic systems. A biped or two-legged walking robot incorporates robust mechanical design, efficient electronics and intelligent motion control techniques to balance itself while standing and walking. Location of center of gravity (COG) of the robot is the key to its stability. Research studies have been carried out to develop mathematical models for robot kinematics, motion and stability. This paper presents an alternative approach for developing state-space equations and motion profile simulations of kinematic sections of a biped robot through bond-graph modeling and simulation technique which by design is more suitable for modeling and simulation of multi-domain systems than any other contemporary modeling and simulation approach