Kinematic and Dynamic Modelling of "T-FLoW" Humanoid Robot for Ascending and Descending Stair

摘要

Walking on uneven surface with balanced manner is the key of the humanoid robot. Many essential parameters of the human walking can be captured with seven links planar biped robot. Hence, in this work kinematics, dynamic modeling and trajectory planning of a seven links planar biped robot with six joints, walking on stair with different level ground in the sagital plane. In this paper, the discussion is concerned to control kinematics for dynamic up and down stairs of the humanoid robot with Full-body kinematics based on Zero Moment Point (ZMP) to analyze stability of the bipedal robot. We define that stair configuration is already known. Dynamic of stair climbing is more unstable than dynamic walking on the ground because it needs an additional vertical motion and has different step length of walking. On this kinematics, center of the robot position of mass is adjusted by the upper body of the robot.Trajectory planning based on the behaviour human walking. The validity of the proposed method is confirmed by simulation, using geometry analysis equation and a uniques strategy for ascending and descending stairs. Furthermore Full-body kinematics for analysis has a good result on the simulation experiment with accuracy 100 percent. Position vector from Full-body kinematics will be used to complete the dynamic system model of T-Flow humanoid robot.