Static Gait Analysis and Planning of Biped Robot

Author

Zhu, Meiqiang ; Wang, Jun ; Li, Ming ; Lin, Yajing

Author_Institution

SIEE, China Univ. of Min. & Technol., Xuzhou, China

fYear

2011

fDate

14-16 Oct. 2011

Firstpage

113

Lastpage

116

Abstract

In order to solve the gait control of biped walking robot and realize the robot walking stable. Through analyzing the constraints which the movement of foot end trajectory and the hip trajectory should satisfy during the robot walking, planning the robot gait. Design the best motion equation for robot, and solve the equation to get the trajectory of robot joints. In practice, adjust the robot joint to fit the abstract points which correspond to joint trajectory, and joint moves to each theory abstract point should meet the robot stable condition in balance analysis. The robot gait is the best, and the overall performance of the robot is the most stable.

Keywords

legged locomotion; motion control; path planning; position control; stability; abstract points; balance analysis; biped robot; biped walking robot; foot end trajectory; gait control; hip trajectory; robot gait planning; robot joints trajectory; robot motion equation design; robot stable condition; robot walking stability; static gait analysis; Foot; Hip; Joints; Legged locomotion; Robot kinematics; Trajectory; Biped Robot; Gait Planning;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Information Hiding and Multimedia Signal Processing (IIH-MSP), 2011 Seventh International Conference on

Conference_Location

Dalian

Print_ISBN

978-1-4577-1397-2

Type

conf

DOI

10.1109/IIHMSP.2011.36

Filename

6079547