RUNNING TRAJECTORY GENERATION OF BIPED ROBOTS USING THE LINEAR AND ANGULAR MOMENTUM

摘要

This paper proposes a trajectory generation method for biped robots to run stably and to reduce the impact shocks and forces generated at the supporting foot. Thus, trajectories of hip link and two feet of a biped robot is derived using linear and angular momentum equations with the desired ZMPs and desired external forces at the supporting foot. The desired ZMPs are obtained using the fuzzy rule. And the impedance controller is designed for a running biped robot. The effectiveness of the proposed running patterns are shown in computer simulations with a 19-DOF biped robot and a 6-DOF elastic pad model.