DYNAMICALLY BALANCED ASCENDING AND DESCENDING GAITS OF A TWO-LEGGED ROBOT

摘要

The present paper deals with dynamically balanced ascending and descending gait generations of a 7 DOF biped robot negotiating a staircase. During navigation, the foot of the swing leg is assumed to follow a trajectory, after ensuring its kinematic constraints. Dynamic balance margin of the gaits are calculated by using the concept of zero-moment point (ZMP). In the present work, an approach different from the well-known semi-inverse method has been developed for trunk motion generation, in which it is initially generated based on static balance and then checked for its dynamic balance. The joint torques are determined utilizing the Lagrange–Euler formulation, and the average power consumption at each joint is calculated. Moreover, variations of the dynamic balance margin are studied for both the ascending as well as descending gaits of the biped robot. Average dynamic balance margin and average power consumption in the ascending gait are found to be more than that of the descending gait. The effect of trunk mass on the dynamic balance margin and average power consumption for both the ascending and descending gaits are studied. The dynamic balance margin and average power consumption are found to decrease and increase, respectively with the increase in the trunk mass.