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Item type:Publication, Access status: with files , Systematic design, modeling and simulation of a biped robot(2025); The bipedal walking robot, CENTAUROB, is designed to perform the walking over random terrains. It features two symmetrically assigned 6-DOF parallel kinematic mechanisms as legs. This work represents the development phases from structure synthesis, kinematic and dynamic modelling to walking stability. Different formations of 6-DOF legs were analysed through dissection of basic kinematic chains, and the design adopting double Cardan joints was demonstrated. The passive rotation problem was identified and solved through complete kinematic modelling. The inverse dynamic model was built, and the semi-dynamic walking stability was ensured by analysing foot rotation indicator with the load-split algorithm.Publicationtype: Doctoral Thesis95 58