Contriving a turning gait for an anthropomorphous system

Like the walking gait, turning left or right is also an important action for an anthropoid to adapt itself in its navigation environment. The fashion of turning gait includes two main phases, Single Support Phase (SSP) and Double Support Phase (DSP). This paper represents the design of a novel type of turning gait for an anthropomorphic robot. The designed gait is experimented using BIOLOID humanoid system as one of the major requirements to establish an Indoor Navigation System. Besides the various gaits which are designed for the project, the fashion of turning is excogitated through the Forward Kinematics (FK) and Inverse Kinematics (IK) analysis based on the Denavit-Hartenberg (D-H) representation and Geometrical Analysis Technique (GAT) respectively. The analysis is performed to identify the required angular positions of joint actuators for various poses of the designed gait. This paper only focuses on the design strategy of the turning gait with the demonstration of the joint movement characteristics which are important to provide the desired movements of the entire system to perform the gait without losing its upright position.