| Summary: | 碩士 === 國立高雄第一科技大學 === 電機工程研究所碩士班 === 102 === The traditional walking gaits f a humanoid robot are planned in kinematic space. But at least there are two problems: impossible to merge dynamic parameters and hard t plan proper velocity. Therefore the traditional walking gaits need to waste longer time for fine tune in order to cover walking dynamics and find proper velocity. In this study, the walking gait based on inverted pendulum model to approach humanoid robot dynamics is derived. This approach solves the walking gait for the trajectories of both position and velocity to make its fine tune easy and effective.
The position trajectory can solve every join position trajectory of both legs by the inverse kinematics of the humanoid robot, and the velocity trajectory can solve every join velocity trajectory of both legs by Jacobi matrix. Therefore, the implementation of walking gait doesn’t need to have a rest period for the stable humanoid walking. The walking gait derived in this study is faster than traditional one. Finally, an exact humanoid robot demonstrates the walking gait to show that it’s almost double speed of traditional one.
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