| Summary: | 碩士 === 逢甲大學 === 自動控制工程學系 === 105 === In this thesis, a design approach of biped robot walking pattern based on zero moment point (ZMP) concept is given out. The biped robot has sixteen degrees of freedom (DOFs), each hand has three DOFs, each leg has five DOFs. This thesis is organized as follows. First, define the coordinate system. Second, calculate the forward kinematics, inverse kinematics and differential kinematics. Third, apply the theory of pseudoinverse into the Jacobian matrix. Then, the relationship between the end effector and joints is derived. Finally, propose a biped robot walking pattern based on ZMP concept. Force sensors are mounted on each foot for calculating the actual ZMP trajectory, the walking pattern of the biped robot was confirmed. In addition, a graphical user interface was developed, which is convenient for the user to operate and observe the actual ZMP trajectory of the robot.
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