Biped Walking Robot Gait Planning Research

Hai Long Chen; Xiao Wu; Jun Du; Jin Ping Tang

doi:10.4028/www.scientific.net/AMR.706-708.674

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 706-708Biped Walking Robot Gait Planning Research

Biped Walking Robot Gait Planning Research

Abstract:

This paper uses biped walking robot as the research object, and designs robots original system, based on the requirements of Biped Walking Robot Competition of China. According to the biped walking robots characteristics of multi-joints, many degrees of freedom, multivariable, strong coupling and nonlinearity [, we can build system model using the Denavi - Hartenberg coordinate, describe the system model by the homogeneous coordinate transformation theory, and then plan on system gait based on ZMP stability . Finally, we can solve for the joint trajectory of the system by using computer-aided software.

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Periodical:

Advanced Materials Research (Volumes 706-708)

Pages:

674-677

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.706-708.674

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Online since:

June 2013

Authors:

Hai Long Chen, Xiao Wu, Jun Du, Jin Ping Tang

Keywords:

Biped Robot, D-H Coordinate, Gait Planning, Homogeneous Coordinate Transformation, ZMP

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References

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