Abstract
The purpose of this research is to generate a stable motion for a hydraulic actuated biped robot. Since the application effect of most dynamic biped robot locomotion theories is not very well and the static walk pattern is hard to realize on human-sized hydraulic actuated biped robot because of the small size of foot compared with body height. In this study, we propose a trajectory planning method based on static walking strategy. Firstly, the mechanical structure and kinematics model of the hydraulic biped robot are described. Then, we analyze why biped robot always falls backward during the walking period and propose an improved motion by adding a section of CoG movement during single support phase. The gait planning is realized with cubic spline trajectory. Finally the motion is verified with coordinated simulations based on ADAMS and MATLAB software.
Highlights
When talking about robot, people will firstly think of a mechanical and electronic device with human look, which is humanoid robot in narrow sense
Since the first study concerning bipedal robots was carried out in Japan with the world’s first active walking biped robot WL-5 developed by Waseda University in 1971 (Kato and Tsuiki, 1972), many research have been done on the development of biped robotics in the following 40 years
Most of theories applied in biped robot are still based on the concept of ZMP proposed by VuKobratovic and Stepanenbo (1972) and inverted pendulum theories proposed by Hemami et al (1973)
Summary
People will firstly think of a mechanical and electronic device with human look, which is humanoid robot in narrow sense. Humanoid robot should have human-like legs and walking capability. The pioneer work about humanoid robot is begun with the research on biped walking structure. Most of theories applied in biped robot are still based on the concept of ZMP proposed by VuKobratovic and Stepanenbo (1972) and inverted pendulum theories proposed by Hemami et al (1973). ZMP stability criteria are not essential conditions for stable walk and inverted pendulum is based on the assumption that most weight of the robot is centralized to a point. Both of them have their own limitations
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