The arch unpowered machinery improvement and the walking gaits design for biped robots

• Main Authors: I Hsien Chen, 陳譯賢
• Other Authors: 黃國勝
• Format: Others
• Language: en_US
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/07155584593942175712

碩士 === 國立中正大學 === 電機工程研究所 === 102 === Biped robot in modern robotics research is an important direction. However, the multi-degree of freedom connecting rod mechanism result the balance problem when biped robot moves. Therefore, the biped robot gait design has been an important issue on the biped robot. On this paper we refer the gait analysis and center of pressure to define the walking key pose for biped robot and use the key pose to design the gait cycle of biped robot. We also make a foot structural improvement for biped robot by reference the postures and center of pressure variation that appear in gait cycle of human. We use WEBOTS as the simulation platform and simulate the BIOLOID biped robot model based on the Denavit–Hartenberg representation. By use the simulation we calculated the COP location and use reinforcement learning to let the biped robot move stably during the walking cycle. At last, we successfully designed a stably walk gait for biped robot.