Forward and inverse kinematic based full body gait generation of biped robot

Abstract

Two legged robots have better mobility when compared with wheeled robots, but they tend to tip over easily. This will become a serious problem when the degrees of freedom (DOF) of the two legged walking machine increases. To overcome this problem the gaits of the biped robot need to be planned properly. In the present paper, a closed form solution for whole body motion of a 18-DOF biped robot, based on inverse kinematics has been proposed. The gaits for lower limbs (that is, legs) and upper limbs (that is, hands) are generated based on swing foot and hand trajectories, respectively. Further, the swing foot and hand trajectories are assumed to follow cubic polynomial. The dynamic balance of the generated full body motion of the biped robot is determined by using the concept of zero moment point (ZMP).