Abstract
Biped robot expected to achieve stable walking on uneven terrains. For that, we should have some different algorithms to achieved generation robot trajectory with stable walking and controlling balance in different error patterns.In this paper presented a novel concept to solve the problem of finding the absolute position of foot of biped, in Cartesian coordinates with the largest stability margin, and then control the joint angles to obtain the desired absolute position at big angular momentum during dynamic walking of Biped Robot on uneven terrain.
Highlights
Many of works presented the different method for generating trajectories of biped robot in offline or online mode
We analyses different works in section of this paper, a little of those works presented methods for generating trajectories of robot with considering online balance controlling at unexpected changing of angular momentum, in cases of uneven surface, so in this paper, suggest a new concept to solve problem generating trajectories at big angular momentum
Controlling system which based on zero moment point (ZMP), center of pressure (CoP), center of gravity (CoG), force points (FP), and analyzing the reaction in FP between the foot and surface
Summary
Many of works presented the different method for generating trajectories of biped robot in offline or online mode. Many of these methods based on the most common principles like Sensor Control Reflex, zero moment point (ZMP) trajectory and others works. The summarized results as follows: 1) A walk control consisting of a feed forward dynamic pattern and a feedback sensory reflex was proposed. 2) The sensory reflex consists of a ZMP reflex, a landing-phase reflex, and a body-posture reflex These reflexive actions are online hierarchically organized to satisfy the dynamic stability constraint, to guarantee to land on the ground in time, and to keep a stable body posture for biped robot walking. The experiments showed that with dynamic pattern and the sensory reflex, it is possible for the biped to walk rhythmically and to adapt itself to the environmental uncertainties [6]
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
