Evaluación experimental del caminado en tiempo real de un robot bípedo de 5g.d.l. con marcha basada en movimientos cicloidales

摘要

The results of experimental tests of walking of the 5 degrees of freedom (dof) biped robot developed at the Instituto Tecnológico de la Laguna (ITLag) are presented in this paper. The gait pattern that is applied in this robot is based on cycloidal motion-type laws, which allow to advance by steps without impacts. Experiments showed an adequate mechanical behavior of the robot and effective performance of the control law applied to keep the ZMP (Zero Moment Point) inside of the support polygon of the robot's feet during walking. The specified parameters for gait pattern ensured a stable walking of the robot, without saturating the torque applied by the actuators.