The Dynamics and Control of a Biped Walking Robot With Seven Degrees of Freedom

[+] Author and Article Information
Ching-Long Shih

Department of Electrical Engineering, National Taiwan Institute of Technology, No. 43, Section 4, Keelung Road, Taipei, Taiwan 106

J. Dyn. Sys., Meas., Control 118(4), 683-690 (Dec 01, 1996) (8 pages) doi:10.1115/1.2802343 History: Received July 11, 1995; Online December 03, 2007


This research studies the dynamics and motion control of a biped walking robot with seven degrees of freedom. The main features of the biped robot include variable length legs and a translatable balance weight in the body. The statically stable walking of the biped robot is implemented by maintaining the center-of-gravity (cg) inside the convex region of the supporting foot/feet during both single-support and double-support phases. The dynamically stable walking of the biped robot is realized by maintaining the zero moment point (ZMP), which is the virtual total ground reaction point, within the region of the supporting foot during the single-support phases. An implementation of a prototype biped BR-1 and its experimental walking test results are described. The biped robot is able to walk on an even floor both statically and dynamically. On a flat plane, the biped can walk with a speed of 8 cm/second statically, and 20 cm/second dynamically.

Copyright © 1996 by The American Society of Mechanical Engineers
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