Realization on the Dynamic Behavior of Bioloid Robot by Using Walking Algorithm Method

• Main Authors: Jian-Bin Huang, 黃建斌
• Other Authors: Thong-Shing Hwang
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/49922291921828342768

碩士 === 逢甲大學 === 自動控制工程所 === 98 === The purpose of this research is to realize the walking motion and dynamic behavior analysis of Bioloid anthropomorphic robot by using walking algorithm method. Biped attitude of Bioloid anthropomorphic robot is calculated by vectorial analytic method for the realization of walking motion, also all the joint angles can be obtained based on the finished gait planning and the walking trajectory by using inverse kinematics. On the walking motion for Bioloid anthropomorphic robot, we adopt COG and ZMP method to judge the robot stable or not. In simulation, we used the MATLAB software to imitate the walking motion and verify the feasibility of the theory for Bioloid anthropomorphic robot. Finally, in order to realize the walking algorithm in hardware-in-the-loop, we transmit the angles to robot through the USB2Dynamixel（TTL Mode）converter and demonstrate the walking motion of the real robot hardware.