Kinematic Based Walking Pattern of Biped robot

기구학을 이용한 이족보행 로봇의 보행패턴

  • Kim, Dong Won (Dept. of Digital Electronics, Inha Technical College)
  • 김동원 (인하공업전문대학 디지털전자과)
  • Received : 2018.10.13
  • Accepted : 2018.11.10
  • Published : 2018.12.31


In this paper, kinematic based walking pattern generation of biped walking robot is reviewed. Biped walking robot should be consisted of 6 Degree of Freedom(DOF) for each leg to walk properly in 3 dimensional circumstance. In this paper, simple structure of biped robot is depicted for walking pattern firstly. After fixing path of ankle of the robot, angle joints are coming from kinematic equatioins. Coordination of joints of a robot was set for dynamic analysis also. So walking pattern of a robot will be designed using dynamic equations of coordination of joint angles. Finally, setting of ankle of robot and pattern generation are key procedures of the robot walking.


Supported by : National Research Foundation of Korea (NRF)


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