Basic walking trajectory analysis in FLoW ROBOT

Abstract

Basically Biped robots had to walk like human, to generate this system we use basic approach for analysis human walking behavior. Human walking behavior can be analyzed using Zero Moment Point (ZMP). Zero Moment Point (ZMP) is a zero point which total of gravity forces and horizontal inertia equal 0 (Zero). This paper describes about early step to made basic walking trajectory for FLoW robot. To determine the best Zero Moment Point (ZMP) reference, it can use the comparison of distance and time. From this comparison, the walking characteristic of FLoW robot was found and the best Zero Moment Point (ZMP) trajectory also founded. The basic walking trajectory will generate based on the best Zero Moment Point (ZMP) trajectory as a reference. In the FLoW robot, the best Zero Moment Point Trajectory was founded at distance of 14cm with difference of Zero Moment Point Reference and Real Zero Moment Point equal 0.012cm.