Motion design and Stability study of Biped Robot

2019 International Conference on Advanced Electronic Materials, Computers and Materials Engineering

无线电电子学;计算机科学;材料科学

Limei, Zhao^1 ; Xiaotie, Ma^1

College of Information Engineering, Beijing Institute of Fashion Technology, Beijing

100029, China^1

关键词: Human computer interaction interface;    Humanoid robot;    Motion trajectories;    Multiple degrees of freedom;    Rotation angles;    Stability study;    Stable motion;    Zero moment point;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/563/4/042070/pdf
DOI  :  10.1088/1757-899X/563/4/042070

来源: IOP

【 摘 要 】

Biped robot is one of many kinds of humanoid robot, with upper and lower limb structure of multiple degrees of freedom, humanoid appearance and friendly human-computer interaction interface. Robobasic programming language is used to set the rotation angle and direction of each steering gear, so as to carry out motion design and flexibly control the robot. Then, through the theoretical analysis of zero moment point (ZMP), the ideal motion trajectory of the robot in different environments can be determined to ensure that the robot can realize simple machine movements similar to those of human beings on the basis of stable motion.