A simple mapping methodology of gait biomechanics for walking control of a biped robot

摘要

This research presents a simple mapping methodology for gait biomechanics of a human being into joint angles of a 10 degrees of freedom (DOF) biped robot. The joint angles are mapped by considering the zero moment point (ZMP) criterion. The walking control of the robot is performed by an optimal state feedback controller. The walking trajectories are planned in the sagittal plane, and they are generated in compliance with the ZMP of the robot - keeping the robot within the support polygon - by dividing the control process in two stages: unique support and double support. A linear inverted pendulum model (LIPM) is used as an approximate single mass model of the robot during gait. Results of this research include simulation-based analysis and real-time implementation results, which show accurate robot movements with limited robustness under slippery platforms.