Title :
The research of biped robot gait generator based on decoupling synthesis and ZMP algorithm
Author :
Yu Guochen ; Wang Zhiliang ; Lun, Xie ; Wu Kun ; Boshuai, Zhu
Author_Institution :
Sch. of Inf. Eng., Univ. of Sci. & Technol. Beijing, Beijing, China
Abstract :
The paper proposed a biped walking robot gait generation method which based on the first decoupling calculation and then synthesis planning. Through ZMP equation, the geometric constraint algorithm and biped robot walking model, I discussed the smoothness and stability of the walking course, and analysis its performance combined with actual system, Verify the effectiveness of planning, To provide the necessary information for future development of biped robot.
Keywords :
legged locomotion; path planning; stability; ZMP algorithm; biped robot gait generator; decoupling synthesis; geometric constraint algorithm; Couplings; Equations; Fusion power generation; Hip; Leg; Legged locomotion; Nonlinear dynamical systems; Robot control; Robot kinematics; Solid modeling; Biped Robot; Decoupling Synthesis; Gait Generator; ZMP equation;
Conference_Titel :
Informatics in Control, Automation and Robotics (CAR), 2010 2nd International Asia Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-5192-0
Electronic_ISBN :
1948-3414
DOI :
10.1109/CAR.2010.5456794
