Kinematic analysis and gait planning for a DARwIn-OP Humanoid Robot

摘要

DARwIn-OP is an anthropomorphic robot with intelligence-open platform and twenty degree of freedom(DOF), in which joints are driven by dynamixel motor MX-28T. This paper mainly investigates kinematics analysis and gait planning issues of DARwIn-OP. Denavit-Hartenberg method is applied to direct kinematics and inverse kinematics analysis. In trajectory generation, based on foothold point locations, this paper utilizes three-dimensional linear inverted pendulum model for a biped walking pattern generation to obtain center of mass(COM) trajectory and zero moment position (ZMP) trajectory. For the sake of applying the trajectory into the real modeling, we apply the 4 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">th</sup> spline interpolation method to obtain correct COM trajectory. At last, MATLAB simulation results are given.