A Trajectory Planning of Biped Robot Taking Environment into Account

摘要

In this paper, linear inverted pendulum mode is applied for the trajectory planning of biped robot in order to plan a trajectory in real time. If large disturbance occurs to robot, the robot will not counter the disturbance but plan a new trajectory follows the dynamics of pendulum.The relationship between the stepping point and the trajectory will be figured out and the method which compensate disturbances by controlling the stepping point will be suggested.The stability of walking will be approved by setting a virtual potential energy and a kinematic energy. The stability domain will be shown and it will also be shown how far can the robot get disturbances in the locomotion.The validity of the suggested method will be shown by simulations.