VoBiRo - Vocational Bipedal Robot Platform, Kinematic and Locomotion Control

摘要

This paper presents kinematic and locomotion control of vocational bipedal robot (VoBiRo)with a kid-size platform. Typically, a linear inverted pendulum model (LIPM) can be used to generate the center of mass (CoM) trajectory of a bipedal robot. By combining the swing foot trajectory, the omnidirectional walking command is capable of generating joint angle control commands in terms of kinematic. Thus, this paper proposes kinematic and LIPM as a locomotion control VoBiRo. A complete simulation was then implemented in MATLAB and graphical user interface (GUI) by Processing IDE relying on kinematic and LIPM model.