Síntesis óptima de un mecanismo para la marcha bípeda utilizando evolución diferencial

The limb design for a biped robot is a key issue to improve the locomotion and the performance of biped robots. The use of mechanism for tracking the gait is not an easy task because the degree of freedom (d . g . f) of the Cartesian space movement does not correspond to the d . g . f of the mechanism. Hence in this paper, an eight-bar planar mechanism with a one d . o . f is proposed as biped limb and the biped gait tracking behavior in the mechanism is analyzed. A numeric optimization problem is formally stated to design the proposed mechanism based on dimensional synthesis. A constraint handling mechanism is included into the differential evolution algorithm (DE) algorithm in order to obtain mechanism design with real solutions in the optimization problem and the behavior of the algorithm with different crossover parameters is analyzed. Experimental results verify the design approach in a laboratory prototype.