Tool for the Analysis of New Skills Biped Pasibot

The aim of this work is to explain the advances made in the development of biped robot PASIBOT. The wish of add mimetic skills to the basic robot lead us include a pair of linear actuators in the hip of the robot. In order to determine the best trajectories that will define these mimetic skills, a mathematical model is developed and implemented in Matlab, creating a user interface with the aim of facilitate the researcher’s work. This software not only solves the equations, but also offers several options to visualize the results obtained. The correct definition of these trajectories will be the input data for further analysis, including dynamics in Msc.Adams and on the physical prototype. Unfortunately, the lack of space for this paper prevent us from developing the control strategies in a suitable way.