Experimental Dynamic Walking of a Seven Degrees-of-Freedom Biped Robot

摘要

The motivation of this work was to synthesize a smooth and energy-optimized walking pattern for a seven degrees-of-freedom biped robot walking on an even floor. The biped's walk is realized by tracking control of the planned trajectory. The biped robot achieved walk initiation and continuous walking back and forth, and the biped can walk with a speed of 20 cm/second on even floors. The contributions of this work are; (1) the results of experiments on a seven degrees-of-freedom prototype biped, which is capable of walking in a dynamically stable manner, are presented, (2) the synthesis of an energy-optimized walking gait is proposed, and (3) the reasoning behind the local PD feedback loop justifies satisfactory performance.