Simulation-Based Modeling and Standing Stabilization of a Bird-Inspired Bipedal Robot with Multi-Joint Dynamics with Contact

Gonzalez A.P.T.; Calero R.S.A.; Malpartida E.A.S.; Felipe J.L.B.; Acosta A.K.N.; Alvarez N.M.R. · 2026 12th International Conference on Mechatronics and Robotics Engineering, ICMRE 2026 (2026) · DOI: 10.1109/icmre69538.2026.11533897

Resumen

This work presents the modeling and simulation of a bipedal robot that is structurally humanoid while adopting locomotion principles inspired by avian gait. Rather than replicating bird anatomy, the proposed robot employs a simplified lowerlimb configuration composed of femur, tibia, and ankle joints, emphasizing heel-less support and a forward-leaning posture characteristic of bird locomotion. The system is implemented in a physics-based simulation environment using the MuJoCo engine to support the development and validation of baseline standing balance control strategies over short time horizons. A joint-level proportional-derivative (PD) control framework, augmented with hierarchical stabilization of the floating base, is employed to achieve and maintain a stable initial upright posture under gravity and foot-ground contact interactions. Simulation results demonstrate that the proposed model can maintain a consistent standing configuration with bounded joint motion and physically plausible contact behavior over short durations, validating the mechanical model and control structure. The presented framework emphasizes mechanical realism, structured control design, and reproducible simulation setup, providing a baseline platform for future extensions toward dynamic locomotion control.

Instituciones: Universidad Peruana de Ciencias Aplicadas; Universidad San Ignacio de Loyola