*Article* **Bio-Inspired Model-Based Design and Control of Bipedal Robot**

**David Polakoviˇc, Martin Juhás \*, Bohuslava Juhásová and Zuzana Cerve ˇ ˇ nanská**

Institute of Applied Informatics, Automation and Mechatronics, Faculty of Material Science and Technology in Trnava, Slovak University of Technology in Bratislava, 91724 Trnava, Slovakia

**\*** Correspondence: martin\_juhas@stuba.sk

**Abstract:** The article aims to describe stages of development of a mobile, anthropomorphic robot. The individual phases of the bio-inspired model-based design of a two-legged robot are described, from the analysis of human walking patterns, through the creation of a simulation model and a control system to the creation and testing the physical model of such a robot. The bio-inspired design is based on an analysis of the movements of the individual parts of a lower human body during walking locomotion. Based on this analysis, the chosen motion model is described as a combination of passive and dynamic walking with a controlled, linear inverted pendulum model. When creating the simulation model, an open kinematic chain consisting of a base (the frame) and two effectors (the legs) is used. The simulation of the virtual model is realized using the software tool Matlab with its toolboxes Simulink and Simscape, and the results confirm the correctness of the design. The feasibility of the design is confirmed by creation of a physical robot skeleton using 3D printing and by a commissioning of the control system based on Atmel ATmega2560 and Raspberry Pi Zero W microcontrollers.

**Keywords:** bipedal robot; bio-inspired design; simulation; model-based design; LIPM; passive walker
