Kinematic Design Analysis and Optimization of Mobility System Using MATLAB

Hameed, Abdul Zubar; Krishnaraju, A ; Alqahtani, Ammar Y.


In this research work, several sophisticated types of equipment and automation have been studied, points taken and considered to realise the locomotion of modern territory of all uneven environments. One of the most main mission and structure of this study is the preferred simplicity of the bipedal walking locomotion system. The study included from simple to complicated legs as like single-legged, like humanoid and up to sixteen legs like a caterpillar. Most of the bipedal walking robots are with research study and we concentrated to emphasizes the significance of robotic legged motion stability in the compact. These bipedal walking robots can walk on rough surfaces, turn efficiently and climb staircase if needed. In particular, a suitable bipedal walking model having an upper link and a lower link will make the system to the desired motions, which has been experimentally exposed to provide a stable walking system. The MATLAB software tool is used to optimize the mechanical constraints and to compare, analyse and investigate the influence of motion stability. The simulation results show a possible performance of projected leg bipedal walking mechanism.


Bipedal, Degree of freedom, Design, Four-Bar mechanism, Lower linkage, Mobility, simulation,
Upper linkage, Walking mechanism

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