Hai Wu Lee, Ching Long Shih, and Chih Lyang Hwang
Biped robot, trajectory planning, zero moment point, compensation movement, stability
The main purpose of this study is to design a biped robot that can achieve stable gait under even environments. The robot can adapt its strides according to the ground conditions and maintain a stable gait through smooth hip motion. The planning of the walking pattern of the robot consists of the foot and hip trajectories. The constraints of a swing foot and hip trajectories and the foot are first formulated, and then third-order spline is used to generate the foot trajectory. The algorithm is performed by employing inverse kinematics, walking path planning, the position of the centre of gravity (COG), and zero moment point (ZMP). Each calculation is then simulated with mathematics tools, and parameters are set and dynamically simulated.
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