STABLE BIPEDAL WALKING ROBOT METHOD FOR GENERATING VERTICAL DIRECTION AND THE CENTER OF THE WAIST AND FEET, THE MOVEMENT DIRECTION OF THE FRONT OF THE ROBOT

摘要

The present invention is a vertical direction and the robot front, center and back of the lateral foot movement for a stable bipedal relates to a method for generating , by using a central pattern generator derives the waist and feet center trajectory of the biped walking robot and , deriving the time of the biped walking robot by the feet of the supporting section for adjusting the feet of the support section Sagan step (a) ; includes . According to the present invention as described above , to support the feet interval is increased, the motion of the robot offset by a step occurring in the support section and the center of gravity of the robot is moved closer to the supporting feet , and then , to reduce the shaking of the biped walking robot walking this has the effect of robot to walk stably . ;