Performance Evaluation of Biped Unit in LARMbot HumanoidV.3

This paper presents the mechanical design and experimental evaluation of the biped unit of LARMbot V.3—a compact low-cost humanoid robot for educational and research purposes. The biped unit features a modular architecture with a parallel leg mechanism for bipedal locomotion. The mechanical configuration of the unit is introduced, highlighting improvements on previous versions in terms of compactness and operating efficiency. A functional prototype is developed and described with detailed specifications of its actuation and transmission systems. To evaluate the performance of the proposed design, experimental tests were conducted both in-air and on-ground, demonstrating the robot’s ability to perform repeatable walking cycles. The results confirm the feasibility of the design and its potential as a platform for further developments in humanoid locomotion.