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This research develops a bipedal humanoid platform, whose function is to emulate the human gait based on the principle of maintaining the minimum power consumption by minimizing the vertical movement of the pelvis. The platform was developed using design and simulation tools such as AutoCAD for mechanical structure, Solid-edge for tridimensional modeling, and Phyton to simulate the movement of the platform. These tools provided accurate physical characteristics of the platform, allowing to generate the kinematic model. The gait kinematic model was developed using MATLAB, then; from a modified version of the Denavit-Hartenberg parameters the forward kinematics was established; and inverse kinematics is determined based on a feedforward backpropagation neuronal network. It was obtained a bipedal humanoid platform with ten degrees of freedom, capable of flexion-extension at the hip and knee, abduction-adduction at the hip, plantar-dorsal flexion and pronation-supination at the ankle. The trajectory generation is obtained in MATLAB by entering the number of steps, step length, step height and a time variable that will separate each of the sequences or sub-steps of the path. As a result, joint trajectories in hip, knee and ankle in three planes were obtained, which are in accordance with human gait, evidenced by means of the humanoid bipedal robot. This research hopes to establish new models to emulate the normal and pathological human gait. Likewise, it is developed by research group DIGITI at District University Francisco Jose de Caldas.

Prototipo de emulación de movimiento humano mediante una plataforma bípeda humanoide