Walking Stability Analysis for a Biped Robot Considering Ground Condition

Abstract

With human characteristics of the structure of lower limb joints and simplify them, 12 degrees of freedom was equipped with for the lower extremities of biped walking robot. motion model is established and used to elaborate the movement characteristics in sagittal and lateral plane according to a particular mechanism of robot. The stability of robot in two or there dimensions is analyzed through ZMP principles and the calculation formula and measuring methods of corresponding ZMP are also concluded, Gait design data will be taken into the virtual prototype and make motion Simulation for gait, then get the simulation animation of walking straight, static turning and moves upstairs, This paper expounds the possibility of generating smooth walking trajectory with cubic interpolation. Using the dynamics simulation software to simulate the robot, the results show that the robot has the theory of stable gait, The control accuracy of joints position and the realization of desired purposes of the robot system.