이족 로봇의 보행 시뮬레이션

摘要

This paper is concerned with computer simulations of a biped robot walking in static gaits. To this end, a three-dimensional robot is designed to have a torso and two identical legs of a kinematically ingenious design. For such limbs, a set of inverse kinematic solutions is analytically derived given relative positions and orientations between the torso and feet. Subsequently, specific walking patterns are generated meeting stability based on the desired foot trajectories and VPCG condition. Finally, to verify whether the robot can walk as planned, a multibody dynamics CAE code has been utilized. As a result, the key parameters to successful static gaits could be identified. Also, joint actuator capacities are quantitatively found required to carry out those gaits.