Stable Polynomial Gait of a Biped Robot with Toe Joint

被引：0

作者：

Panwar, Ruchi ^{[1
]}

Sukavanam, N. ^{[1
]}

机构：

[1] IIT Roorkee, Dept Math, Roorkee, Uttar Pradesh, India

来源：

2017 4TH IEEE UTTAR PRADESH SECTION INTERNATIONAL CONFERENCE ON ELECTRICAL, COMPUTER AND ELECTRONICS (UPCON) | 2017年

关键词：

biped robot; inverse kinematics; trajectory generation;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

This paper presents a trajectory generation algorithm for human like walk of a biped robot with movable foot and active toe. A neural network approach is used for solving inverse kinematics so that the biped follows the ankle and hip trajectory in plane surface. In the dynamic stability investigation part, Zero Moment Point (ZMP) stability with respect to the upper body movement in transverse plane has been studied. The developed algorithm is implemented in the simulation of a biped walking using Matlab software.

引用

页码：382 / 387

页数：6

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