Design and Control of the Lower Part of Humanoid Biped Robot

摘要

This manuscript describes the design methodology of a lower limb bipedal robot which was controlled to achieve a stable walking gait. The proposed design has 12 DOF to mimic human gait in the most daily living activities. The design process started by creating dynamically equivalent lower limb segments based on the human anthropometric data. A linear inverted pendulum model of human walking was developed to produce the trajectory of the robot center of mass (COM), and then generate the feet trajectories, as well as applying inverse kinematics model. An iterative optimization algorithm was used to find the angular correction. The system was simulated on MATLAB/SIMULINK simulation environment and the results were satisfactory.