Investigate Feasibility of Model-Based Design Approach to Develop a Biped Walking Robot

摘要

Legged motion has significant advantages over traditional locomotion techniques. Research and development on it have been constantly improving over the last couple of decades. Though there are numerous techniques in developing legged biped motion, none of them is fully satisfactory. The main aspects of legged motion are active balancing, smooth pattern generation and control. These play an important role in legged motion and there are numerous techniques developed to achieve it. The research that is shown in this project is to implement model-based design methodology in developing ZMP stability algorithm. The main area that is been concentrated in the implementation of hardware-in-loop (HIL) simulation using an xPC - target computer. The robot walking gait is generated by developing a Simulink plant model where the joint angles are tested on a virtual simulation platform.