Design and walking pattern generation of a biped robot

Authors

TOLGA OLCAY
AHMET ÖZKURT

DOI

10.3906/elk-1409-19

Abstract

This paper presents the design of a biped robot, the walking trajectory generation method, and experimental results about biped walking. Walking trajectory generation is one of the deterministic factors in walking robot applications. Different approaches for stable walking trajectory are worked on in robotic research. The linear inverted pendulum model (LIPM) is an effective method used with the zero moment point (ZMP) criteria. Biped robot trunk and feet moving patterns are generated depending on these fundamental methods. In this study, generated trajectories were tested by a 12 degree of freedom (DOF) biped robot RUBI built at Dokuz Eylül University. In the experimental work, the joint angles obtained by using inverse kinematics from the generated trajectories were implemented on the robot. The results showed that even with a simple control system implementation of generated trajectories is very promising in terms of stability and reducing complexity.

Keywords

Walking trajectory generation, zero moment point, inverted pendulum, biped robot

First Page

761

Last Page

769

Recommended Citation

OLCAY, TOLGA and ÖZKURT, AHMET (2017) "Design and walking pattern generation of a biped robot," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 25: No. 2, Article 9. https://doi.org/10.3906/elk-1409-19
Available at: https://journals.tubitak.gov.tr/elektrik/vol25/iss2/9