Title :
Research on rapid walking of biped robot based on parametric surface table cart model
Author :
Wei-guo, Wu ; Yue-yang, Hou
Author_Institution :
Dept. of Machine Design, Harbin Inst. of Technol., Harbin, China
Abstract :
Stable walking conditions are reinforced for sliding & wheelspin of robot. Deduced ZMP formula based on jerk which is introduced by 3 ranks Taylor formula. Parametric surface table cart model used for dynamics is proposed. Rapid walking pattern of biped robot is generated based on parametric surface table cart model. Finally, dynamics simulation of the 3-D virtual prototype of the biped robot is completed in the dynamic software, the walking speed is 2.088km/h.
Keywords :
gait analysis; legged locomotion; motion control; robot dynamics; robot kinematics; stability; 3 ranks Taylor formula; 3D virtual prototype; biped robot; deduced ZMP formula; dynamic software; dynamics simulation; jerk; parametric surface table cart model; rapid walking; robot dynamics; robot sliding; robot wheelspin; stable walking conditions; Biomimetics; Humanoid robots; Intelligent control; Intelligent robots; Legged locomotion; Machine intelligence; Mobile robots; Motion control; Orbital robotics; Robot kinematics;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420691
