Biped Walking Robot Gait planning research

摘要

This paper uses biped walking robot as the research object, and designs robot's original system, based on the requirements of Biped Walking Robot Competition of China. According to the biped walking robot's characteristics of multi-joints, many degrees of freedom, multivariable, strong coupling and nonlinearity [1], we can build system model using the Denavi - Hartenberg coordinate, describe the system model by the homogeneous coordinate transformation theory, and then plan on system gait based on ZMP stability . Finally, we can solve for the joint trajectory of the system by using computer-aided software