Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Development of 3-Dimensional Simulator for a Biped Robot

이족 보행로봇의 3차원 모의실험기 개발

  • Noh, Kyung-Kon (Dept. of Industrial Automation Inha Univ.) ;
  • Kim, Jin-Geol (School of Electronics and Electrical Eng. Inha Univ.) ;
  • Huh, Uk-Youl (School of Electronics and Electrical Eng. Inha Univ.)
  • 노경곤 (인하대학교 자동화공학과) ;
  • 김진걸 (인하대학교 전자전기공학부) ;
  • 허욱열 (인하대학교 전자전기공학부)
  • Published : 2004.07.14
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Abstract

This study is concerned with development of 3-Dimensional simulator of a biped robot that has a prismatic balancing weight or a revolute balancing weight. The dynamic stability equation of a biped robot which have a prismatic balancing weight is conditional linear but a walking robot's stability equation with a revolute balancing weight is nonlinear. To get a stable gait of a biped robot, stabilization equations with ZMP (Zero Moment Point) are modeled as non-homogeneous second order differential equations for each balancing weight type. A trajectory of balancing weight can be directly calculated with the FDM (Finite Difference Method) solution of the linearized differential equation. In this paper, the 3-Dimensional graphic simulator is programmed to get and calculate the desired ZMP and the actual ZMP. Walking of 4 steps was simulated and verified. This balancing system will be applied to a biped humanoid robot, which consist Begs and upper body, at future work.

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