A study on the motion trajectory planning and dynamic simulation of biped walking robot

이족 보행 로보트의 운동 궤적 계획 및 동적 시뮬레이션에 관한 연구

This study treats the method for kinematic modeling of the biped walking robot, for synthesizing various gait trajectories, and for calculating adequate values of the joint torque inside the stable region. To synthesize various and anthropomorphic walking easily, the gait trajectory is specified by a set of ten walking prameters, and the trunk motion equation is derived by the zero moment point and the gait trajectory. By distributing ground reaction force and moment reduced at the zero moment point to the both feet, the joint torque equation can be derived readily, and according to this equation, the joint torque to stable walking can be computed.