In this research work, several sophisticated types of equipment and automation have been studied, points taken and considered to realise the locomotion of modern territory of all uneven environments. One of the most main mission and structure of this study is the preferred simplicity of the bipedal walking locomotion system. The study included from simple to complicated legs as like single-legged, like humanoid and up to sixteen legs like a caterpillar. Most of the bipedal walking robots are with research study and we concentrated to emphasizes the significance of robotic legged motion stability in the compact. These bipedal walking robots can walk on rough surfaces, turn efficiently and climb staircase if needed. In particular, a suitable bipedal walking model having an upper link and a lower link will make the system to the desired motions, which has been experimentally exposed to provide a stable walking system. The MATLAB software tool is used to optimize the mechanical constraints and to compare, analyse and investigate the influence of motion stability. The simulation results show a possible performance of projected leg bipedal walking mechanism.

中文翻译：

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基于MATLAB的移动系统运动学设计分析与优化。

在这项研究工作中，已经研究了几种复杂类型的设备和自动化，并采取了一些要点并考虑了这些要点，以实现所有不平坦环境中现代领土的移动。本研究的最主要任务和结构之一是双足步行运动系统的首选简单性。该研究包括从简单到复杂的腿（如单腿类人猿）和多达16条腿（如毛毛虫）。大多数双足步行机器人都在进行研究，我们集中精力强调紧凑型机器人腿式运动稳定性的重要性。这些双足步行机器人可以在粗糙的表面上行走，有效地转向，并在需要时爬楼梯。特别是，具有上链和下链的合适的双足步行模型将使系统达到所需的运动，经过实验暴露，可以提供稳定的步行系统。MATLAB软件工具用于优化机械约束并比较，分析和研究运动稳定性的影响。仿真结果显示了预计的腿部双足步行机制的性能。