Joint behaviors of a humanoid platform while overcoming an obstacle

摘要

This paper represents a gait designing strategy for an anthropomorphic robot to step over an obstacle. The gait is conducted as one of the major requirements to establish an indoor navigation system for a bipedal robot. The strategy is experimented using the BIOLOID humanoid platform and the result represents that th e technique is viable to step over an obstacle for that anthropoid without losing its upright posi tion. Overcoming an obstacle for a bipedal system is one of the most critical jobs where the s ystem reaches to the most unstable condition. Designing such a critical gait involves a number of complex analysis procedures including the Forward and Inverse Kinematics (FK and IK) formulat ions. For this project the FK and IK analysis is completed using the Denavit-Hartenberg (D-H) representation technique and Geometric-Trigonometric (G-T) formulation respectiv ely. The paper mainly focuses on the gait designing strategy based on CoP-CoM tracking techni que. The paper also demonstrates the various joint demeanor patterns of the 18 DoF BIOLO ID system while executing the gait.