This paper introduced a turning gait and the corresponding control method for a biped robot without yaw joints. Firstly, the paper introduced a hydraulic actuated biped robot with eight degrees of freedom, which had payload capacity. Secondly, based on the dynamic equilibrium method, the turning gait is generated. Thirdly, in order to decrease the turning time and increase the turning accuracy, a control method with the trunk posture information is proposed. Finally, weight loading experiments in the MD.DAMS simulation environment and physical prototype empty load experiments are used to verify the effectiveness of the proposed control method.
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