DocumentCode
623310
Title
Gait design of biped robot based on USBSSC32
Author
Yangyang Jiang ; Haiwen Yuan ; Chaowen Zhu ; Yong Cui
Author_Institution
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
fYear
2013
fDate
19-21 June 2013
Firstpage
978
Lastpage
981
Abstract
In order to meet the urgent needs of dynamic equilibrium and path planning problem about biped robot gait design, on the basis of the analysis and imitation of human walking principle, combining with ZMP stability theory, using USBSSC32 multiple servo controller, we study various gait control methods, and develop related implementation program. The application results show that the design method has good stability, and can effectively control the biped robot to stably walk along straight line, circle, square and other routes.
Keywords
gait analysis; legged locomotion; path planning; robot dynamics; servomechanisms; stability; USBSSC32 multiple servocontroller; ZMP stability theory; biped robot gait design; dynamic equilibrium; gait control method; human walking principle; path planning problem; Foot; Gravity; Joints; Legged locomotion; Robot kinematics; Servomotors; USBSSC32; biped robot; gait design; humanoid walking; stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on
Conference_Location
Melbourne, VIC
Print_ISBN
978-1-4673-6320-4
Type
conf
DOI
10.1109/ICIEA.2013.6566509
Filename
6566509
Link To Document