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Gait Implementation of a Biped Robot with Smooth Walking Pattern  

No, Gyeong-Gon (Dept.of Operation Engineering, Inha University)
Gong, Jeong-Sik (Dept.of Operation Engineering, Inha University)
Kim, Jin-Geol (Dept.of Operation Engineering, Inha University)
Kim, Gi-Sik (Dept.of Physics, College of Science, Inha University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.19, no.7, 2002 , pp. 43-50 More about this Journal
Abstract
This paper presents the new gait implementation of a biped robot with smooth walking using 3-dimensional continuous trunk motion and kick action of ankle joints. Trajectory generation ova trunk is performed not on a unit gait but on a whole walking interval. In applying kick action such as heel-touch or toe-off, varying coordinate system was employed for the simplification of the kinematic analysis. Desired ZMP (zero moment point) is also changed to implement the efficient kick action. As a result, balancing motion of the proposed gait was much more decreased than that of conventional one. Moreover, robot\\`s walking behavior is very smooth, natural and similar to the pace of a human. The walking experiment system is composed of eight AC servo motors and a DSP controller. The walking simulation and the experimental results are shown using the proposed new walking algorithm.
Keywords
trunk motion; kick action; ZMP; DSP controller;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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