Dynamic Balancing of Bipedal Robot on Inclined Terrain using Polynomial Trajectories

摘要

This paper presents foot trajectory planning for bipedal robots during the swing phase. This experiment aims to design an efficient and dynamically stable foot trajectory for a 10-DOF (Degree of freedom) bipedal robot. The experiment considers the foot's quadratic, cubic, and quintic polynomial trajectories while climbing the inclined plane. Forward and Inverse kinematics is used to calculate the variation of joint angles during the swing phase. Dynamic Balance Margin DBM has been computed using Zero Moment Point ZMP principle while walking. The angle variation and the ZMP for the aforementioned polynomial trajectories are presented. The maximum DBM is achieved for quintic polynomial trajectory, leading to a considerable reduction in power consumption. Our paper presents a dynamically stable walking pattern of a bipedal robot. It also ensures repeatability, which has been validated using a stick diagram.