Optimal control for stable walking gait of a biped robot

摘要

After proposed an optimal control method for a biped robot based on parameters of the UXA 90-Light robot in our previous researches. In this paper, those data generated from the results of simulation will be applied in real robot. Besides, sensors module as well as algorithms also were generated to measure the ZMP trajectory of robot. Then, the stability of the robot is performed through comparison between simulation and experiment results.