Analytical approach for generating dynamically balanced gaits for obstacle crossing biped robot

The present paper deals with the dynamically balanced obstacle crossing gait generation of 7 degrees of freedom biped robot using analytical approach. The biped robot is assumed to be moved in the sagittal plane (no lateral movement is allowed). During navigation, the foot of the swing leg and hip joint are assumed to follow cubic polynomial and straight line trajectories, respectively after ensuring its kinematic constraints. The inverse kinematics concept has been used to find the joint angles for lower limbs, whereas the concept of static balance has been used to find the trunk motion of the robot. It is important to note that the generated gait is verified for its dynamic balance by calculating zero moment point (ZMP). Based on the height of the obstacle, two cases are considered: the robot may land the foot on the obstacle or it may place the foot on the other side of the obstacle. The performance of the developed approach has been tested through computer simulations.