Static Gait Analysis and Planning of Biped Robot

摘要

In order to solve the gait control of biped walking robot and realize the robot walking stable. Through analyzing the constraints which the movement of foot end trajectory and the hip trajectory should satisfy during the robot walking, planning the robot gait. Design the best motion equation for robot, and solve the equation to get the trajectory of robot joints. In practice, adjust the robot joint to fit the abstract points which correspond to joint trajectory, and joint moves to each theory abstract point should meet the robot stable condition in balance analysis. The robot gait is the best, and the overall performance of the robot is the most stable.