Walking Pattern Generation for a Biped Robot Using Polynomial Approximation

다항식 근사를 이용한 이족보행 로봇의 보행패턴 생성

  • 강윤석 (국민대학교 자동차공학 전문대학원) ;
  • 박정훈 (고등기술연구원 제품기술연구센터) ;
  • 임홍재 (국민대학교 자동차공학 전문대학원)
  • Published : 2004.11.03

Abstract

In this research, a stable walking pattern generation method for a biped robot is presented. A biped robot is considered as constrained multibody system by several kinematic joints. The proposed method is based on the optimized polynomial approximation of the trunk motion along the moving direction. Foot motions can be designed according to the ground condition and walking speed. To minimize the deviation from the desired ZMP, the trunk motion is generated by the fifth order polynomial approximation. 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.

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