Analysis of a 5-dof planar biped mechanism with parallelogram-type links

This paper reports the modeling, trajectory planning and control of a 5-degree-of-freedom biped robot with parallelogram-type links. The kinematic and dynamic models are obtained by using a simplified approach of the real mechanism. The model-based controller for the tracking of the proposed gait patterns, and the analysis of the Zero Moment Point, which determines the dynamic stability, are also presented. Simulation results give important information for the future practical implementation of the mechanism.