Title :
Analysis of the dynamics of a biped robot with seven degrees of freedom
Author :
Shih, Ching-Long
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Inst. of Technol., Taipei, Taiwan
Abstract :
This paper studies the dynamics of a biped walking robot with seven degrees of freedom. The main features of the biped robot include variable length legs and a translatable balance weight in the body. Dynamically stable walking of the biped robot is realized by maintaining the zero moment point (ZMP), which is the virtual total ground reaction point, within the region of the supporting foot during the single-support phases. An implementation of prototype biped BR-1 and its experimental walking test results are described. On a flat plane, the biped can walk dynamically with a speed of 16 cm/second
Keywords :
control system synthesis; legged locomotion; mobile robots; motion control; robot dynamics; robot kinematics; biped kinematics; biped walking robot; dynamics analysis; gait synthesis; motion control; prototype biped BR-1; translatable balance weight; virtual total ground reaction point; zero moment point; Control theory; Foot; Heuristic algorithms; Kinematics; Leg; Legged locomotion; Prototypes; Robot sensing systems; Stability analysis; Testing;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509169
