Trajectory Design and Control of a Biped Robot Walking Upstairs

• Main Authors: Bernard Goh Zheng Ting, 吳政庭
• Other Authors: Jau-Liang Chen 陳昭亮
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/77509428514911169280

碩士 === 國立中興大學 === 機械工程學系所 === 99 === Abstract The purpose of this research is to design an imitation trajectory of a human walking upstairs trajectory for a biped robot to walk upstairs using a low cost servo controller to control it and achieve walking upstairs trajectory. In this research, a KHR-1 biped robot made by KONDO Inc. Japan, is used. With an extra turning module, the robot contains nineteen degrees of freedom comprising twelve servo motors on its legs, six servo motors on its hands and one its head. Off-line trajectory design method is used in this research, a stable and reliable trajectory is designed according to human upstairs trajectory, and had been compared with the stable ZMP trajectory developed by other researchers. Forward and inverse kinematics are used to calculate the rotation angle of each servo motor, and simulation is used to show the trajectory. To achieve a stable imitation trajectory of a human walking upstairs, S3C2440 ARM9 and AT89C4051 are used as controller.