Walking trajectory modeling of biped robot “Archi” for stable walking

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• 作者：Xh. Mehmeti^* ; ^{xhemajl.mehmeti@ubt-uni.net} ; B. Karahoda^** ; ^{bkarahoda@ubt-uni.net} ; P. Kopacek^*** ; ^{kopacek@ihrt.tuwien.ac.at}
• 关键词：Biped Robot ; Archi ; ZMP analysis ; walking trajectory
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：29
• 页码：83-87
• 全文大小：795 K
• 卷排序：49

文摘

In this paper the trajectory modelling of “Archi” robot for stable walking is presented. The walking trajectories and corresponding joints velocities and accelerations are generated according to the existing robot “Archi” parameters. Then the zero moment point (ZMP) analysis is performed for the obtained trajectory model in order to evaluate the walking stability. The results show that the generated trajectories can be used for controlling the stable walking of “Archi” robot.