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Walking Pattern Generation employing DAE Integration Method  

Kang Yun-Seok (Graduate School of Automotive Engineering, Kookmin University)
Park Jung-Hun (Noise & Vibration Team, Center for Product Design Technology, Institute for Advanced Engineering)
Yim Hong Jae (School of Mechanical and Automotive Engineering, Kookmin University)
Publication Information
Journal of Mechanical Science and Technology / v.19, no.spc1, 2005 , pp. 364-370 More about this Journal
Abstract
A stable walking pattern generation method for a biped robot is presented in this paper. In general, the ZMP (zero moment point) equations, which are expressed as differential equations, are solved to obtain a stable walking pattern. However, the number of differential equations is less than that of unknown coordinates in the ZMP equations. It is impossible to integrate the ZMP equations directly since one or more constraint equations are involved in the ZMP equations. To overcome this difficulty, DAE (differential and algebraic equation) solution method is employed. The proposed method has enough flexibility for various kinematic structures. Walking simulation for a virtual biped robot is performed to demonstrate the effectiveness and validity of the proposed method. The method can be applied to the biped robot for stable walking pattern generation.
Keywords
Biped Robot; Stable Walking Pattern; ZMP (Zero Moment Point) Equation; DAE (Differential and Algebraic Equation);
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