Gait Planning and Motion Simulation of a Biped Walking Robot

A three-step planning method is proposed, aiming at the redundancy of DOFs and the complexity of a biped robot’s gait planning. The method presents a quick procedure on the planning of robot’s walking gait, and it is used in the walking gait planning of a biped robot, the HIT-Robocean. A robot virtual prototype model firstly is set up with the aid of the softwares, namely, Solidworks, Matlab, and Adams, as a combined simulation, a 3-dimensional animation of its walking gait can be obtained. This virtual prototype model will help to analyse the kinematics and dynamic modes of robot walking gait. Lastly, the walking gait plan is validated in the HIT-Robocean. Keywords—biped robot; gait planning; virtual prototype; motion simulation.

[1]  Zhang Jichuan.  Normal gait patterns on different terrain , 2000 .

[2]  Liu Ying-chun.  Robot Simulation Based on Virtual Prototype , 2004 .

[3]  Chen Dong.  A Review of man and animal gait and walking robot , 2003 .

[4]  Kazuhito Yokoi,et al.  Planning walking patterns for a biped robot , 2001, IEEE Trans. Robotics Autom..

[5]  S. Kajita,et al.  Experimental study of biped dynamic walking , 1996 .

[6]  谢玲,et al.  ZMP-based Gait Optimization of the Biped Robot , 2003 .

[7]  K. Ting,et al.  Rotatability Laws for N-Bar Kinematic Chains and Their Proof , 1991 .

[8]  Kazuhito Yokoi,et al.  A high stability, smooth walking pattern for a biped robot , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[9]  Tatsuzo Ishida,et al.  Development of sensor system of a small biped entertainment robot , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[10]  K. Erbatur,et al.  A gait adaptation scheme for biped walking robots , 2004, The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04..

[11]  Qiang Huang,et al.  Stability criterion and pattern planning for humanoid running , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[12]  Ilse Jonkers,et al.  The study of muscle action during single support and swing phase of gait: clinical relevance of forward simulation techniques. , 2003, Gait & posture.

[13]  Bao Zhi.  Research on the Velocity Characteristics of Human Walking , 2000 .

[14]  Shi Zong.  CONTROL METHODS OF DYNAMIC WALKING FOR HUMANOID ROBOT , 2001 .

[15]  Takayuki Furuta,et al.  Design and construction of a series of compact humanoid robots and development of biped walk control strategies , 2001, Robotics Auton. Syst..

[16]  Atsuo Kawamura,et al.  A study on the zero moment point measurement for biped walking robots , 2002, 7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623).

[17]  David E. Orin,et al.  Efficient Dynamic Computer Simulation of Robotic Mechanisms , 1982 .

[18]  V. B. Kokshenev.  Dynamics of human walking at steady speeds. , 2004, Physical review letters.