Design of Biped Robot with Anthropomorphic Gait

摘要

This research develops a biped robot and designs a new walking pattern in order to achieve dynamic gait stability. One of the most widely used methods for the synthesis of humanoid gait is the zero-moment point method, proposed by Vukobratovic and Juricic. This method is investigated and evaluated through computer simulation of forward motion performed by a biped robot with 10 degrees of freedom. On the basis of the simulation results, a new walking model is proposed that is inspired by the human gait. The design of a real biped robot with 6 degrees is described in detail. The hardware and software components required for anthropomorphic gait synthesis and wireless control are evaluated in the execution of realistic use cases like forward and backward movement, left and right rotation and kicking a ball.