Dynamic analysis and path planning for a redundant actuated biped robot

In some applications, biped robots are preferred to wheeled robots since biped robots are able to move in various environments with different conditions. However, stable walking for biped robots is a challenging issue. Various approaches have been developed to improve these robots performance. In this paper, we first introduce a different mechanical design of biped robots based on parallel mechanism and then compare it with conventional design of robots. Then we formulate dynamic equations of this biped robot and generate some trajectories for the joints. Finally, the proposed design is validated by experimental results.