Optimum stable gait planning for an 8 link biped robot usnig simulated annealing

摘要

Biped or humanoid robots should have a higher level of autonomy to achieve different tasks in service and manufacturing sectors. Biped locomotion is a complex dynamical task because of the intermittent interaction with its environment and the ground through its feet. Most of the previous gait planning efforts were made by complex and time consuming algorithms with maximum one limb in the upper body for controlling the gaits. This work presents the kinematic and dynamic modelling and simulation of 8 link biped robot walking with two limbs in the upper body. Optimum cycloidal gait trajectory is simulated and compared between the static and dynamic walking cases. Easy and comparatively less time consuming simulated annealing algorithm is used for the optimization. Zero Moment Point criteria is used for the stability analysis.