Static Standing and Dynamic Walking of a Practical Biped Robot

摘要

The study of static standing and dynamic walking of a practical biped robot is presented in this research report. A systematic method for describing the kinematic behavior of a biped robot is first developed. The development is based on the well-known Denavit-Hartenburg convention. As a result, the method is basically the same as the one used for robot manipulators, except for some considerations given to the unique functions and structure of a biped robot. The static standing of a biped robot is then studied. It is argued that static standing capability is very important if a biped robot is to be employed in an industrial environment. In order to measure the performance of the biped in static standing in terms of its stability, two parameters, stable margin and stable index, are introduced. Based on these parameters, optimal stability of the biped robot with one-foot and two-foot standing cases are discussed. For dynamic walking, a mathematical treatment is first described. Conclusion is reached that by proper positioning of the landing, stable dynamic walking can be realized. A practical biped robot is introduced in the final part of the report. Experimental results of static standing and dynamic walking of the biped robot are presented, to verify the theoretical results. 28 refs., 9 figs., 1 tab. (ERA citation 13:001409)