Development of Humanoid Robot and Biped Walking Based on Linear Inverted Pendulum Model

摘要

This paper describes the exploration and development of a teen-size humanoid robot platform, from the design of the humanoid robot mechanism, the configuration of degrees of freedom, to the establishment of humanoid robot forward kinematic model and inverse kinematic model which is in closed-form. Using linear inverted pendulum model (LIPM) to make the robot achieve a stable walking after planning gait. We used inertial measurement unit (IMU) for measuring ZMP and the orientation of the trunk of the robot.