Desired gait synthesis in biped robot based on reactive force

摘要

Presents the new method of desired gait generation in biped robot based on the reactive force between the foot and environment with the mathematical relationship between the reactive force and the joint motion derived by following the D'Alembert principle, the desired gait of biped robot based on ZMP stability criterion and other physical constraints, and the desired trajectory of ZMP determined by fuzzy logic from human locomotion which reduces the motion range of the trunk and can be applied to the single foot supporting and double feet supporting phase by changing the constraints only, and proves the feasibility and good performance of the method with experimental results.