Walking Motion Generation and Validation of Biped Humanoid Robot

Bo Tu; Dan Pu Zhao; Xian Qing Tai

doi:10.4028/www.scientific.net/AMR.591-593.1386

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 591-593Walking Motion Generation and Validation of Biped...

Walking Motion Generation and Validation of Biped Humanoid Robot

Abstract:

Walking motion generation and validation have been a significant issue for biped humanoid robot. To generate more natural walking motions, and confirm the validity rapidly, this paper presents work on walking motion planning and validity verifying. Based on spline interpolation method, the walking motions in both sagittal and lateral planes are generated. Dynamic model is constructed with the toolbox of SimMechanics for Matlab, and the interactive forces between robot’s sole and ground are constrained in order to depict the state of balance. Dynamic model is driven by the walking motions which have been generated. The simulation and analysis demonstrate the validity of the motion which has been designed.

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Periodical:

Advanced Materials Research (Volumes 591-593)

Pages:

1386-1390

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.591-593.1386

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Online since:

November 2012

Authors:

Bo Tu, Dan Pu Zhao, Xian Qing Tai

Keywords:

Humanoid Robot, Walking Motion Plan, Walking Motion Validation

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References

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