An Improved Implementation of Shift Displacement Method on Hardware – Comprehensive Evaluation of Emerging Bi-pedal Techniques

Bipedal walking approaches are one of the main technical hurdles in the robotics due to its high dimensionality, natural instability, nonlinearity, and high Cost of Travelling (CoT). The major challenge is to achieve a stable walk with inexpensive infrastructure without using complex algorithms. Researchers are trying to achieve a large angle of freedom but there is a tradeoff between power, stability, and angle of freedom. This paper presents simulation, implementation of a bipedal walking robot, and analysis of various research techniques for a simple but reliable bipedal walking method. We have implemented a shift displacement walking technique through that bipedal robot attains CoP (Centre of Point) while walking and keeping the CoG (Center of Gravity) projection to the ground within its foot area to maintain dynamic stability, achieved high angle of freedom, and efficiency due to efficient cycle time. We have simulated three different bi-pedal walking techniques, and it shows the Shift Displacement Method achieved 14 degrees of angle of freedom with a cycle time of 0.605 seconds. We achieved less power consumption, cost of traveling (CoT), and angle of freedom of 14 degrees as compared to state of the art. The experimental prototype is based on the KHR-I and has 10 DOF (Degrees of Freedom), weighted as 1.5 kg, and stands 38 cm.