Passive Walking Pattern-Based Biped Robot Gait Planning and Implementation

• Main Authors: Po-Hsiang Wang, 王泊翔
• Other Authors: 林麗章
• Format: Others
• Language: zh-TW
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/36199006333986231547

碩士 === 國立中興大學 === 機械工程學系所 === 100 === In this thesis, passive walking pattern-based gait planning and implementation are considered for a biped robot. First, the forward kinematics is considered using the D-H method. Then, analytic inverse kinematics equations for the swing leg are derived using both algebraic and geometric methods. Based on the principle of compass-like passive walker, the support leg is simplified as an inverted pendulum with straightened thigh and shank, and the motion trajectory of the hip is generated. The x- and z-trajectories of the swing leg’s foot are then planned using the polynomial interpolation method. And based on the multi-point-mass model, the ZMP equations are derived for testing the walking stability of the biped robot. For the calculation of ZMP, the Jacobian matrices for computing the velocities of each link’s centers of mass are derived, and the accelerations of each mass-center are obtained by direct differentiation. Finally, computer simulations and implementation of the gait pattern are demonstrated to illustrate the effectiveness of the suggested approach.