Bipedal Dynamic Walking in Robotics

摘要

It is easier for bipedal robots to exist in a human oriented environment than for other types of robots. Furthermore, dynamic walking is more efficient than static walking. For a biped robot achieve dynamic balance while walking, a dynamic gait must be developed. Two different approaches to gait generation are presented---an intuitive approach using software for gait animation, and a periodic approach that provides a scalable gait with parameters for controlling step length, step height and step period. A biped robot also requires a control system to ensure the stability of the robot while walking. Various simple control techniques were tried---proportional control and proportional integral control systems were implemented to modify trunk motion in order to compensate for lower limb movement. A seven link biped robot with human proportions was designed and constructed, to apply the developed gaits and control systems. Several experiments were conducted to examine the stability of the...