Toward Realization a 7-Links Biped Robot - Trajectory Generation

Abstract:

Naturalistic walking is one of the most important purposes of researches on biped robots. A feasible way is to translate the understanding of human walking to robot walking. One of the options that affects the quality of motion in a biped robot is concerned with trajectory generation. So, in this paper it's focused on trajectory generation methods for implementing a 7-links planar walker biped robot. Also, this model is simulated by VisualNastran software package and run according to a Clinical Gait Analysis (CGA) reference that has been modified for a planar model. Lastly, the results of simulation are reported.

• Periodical: Advanced Materials Research (Volumes 816-817)
• Pages: 712-716
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.816-817.712
• Online since: September 2013
• Authors: Ahmad Ghanbari, S. Mohammad Reza S. Noorani, Hamid HajiMohammadi, Aida Parvaresh
• Keywords: Biped Robot, Simulation, Trajectory Generation, Walking Gait

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