In this paper, a stable walking pattern generation method for a biped robot is presented. A biped robot is considered as constrained multibody system by several kinematic joints. The proposed method is based on the optimized trunk motion along the moving direction. Foot motions can be designed according to the ground condition and walking speed. To minimize the deviation from the desired ZMP, the trunk motion is generated by the fifth order polynomial approximation. Walking simulation for the virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.
- Design Engineering Division and Computers and Information in Engineering Division
Walking Pattern Generation for a Biped Robot Using Polynomial Approximation
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Kang, Y, Yim, HJ, Lee, K, Park, J, Park, J, Kim, H, & Sung, H. "Walking Pattern Generation for a Biped Robot Using Polynomial Approximation." Proceedings of the ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C. Long Beach, California, USA. September 24–28, 2005. pp. 2255-2263. ASME. https://doi.org/10.1115/DETC2005-84576
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