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
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;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-4673-6320-4
DOI :
10.1109/ICIEA.2013.6566509
