Design and simulation of squat walking gait of biped robot

What is it about?

Because of the complex structure and high coupling degree of the biped robot, its gait is easy to be disturbed by the external environment, so the fast and stable gait planning method is particularly important. In order to effectively improve the walking stability of biped robot, this paper describes the process of squat walking gait according to its mechanical structure and freedom configuration, and makes trajectory planning for its center of mass and key joints. The idea of generating stable gait by changing ZMP points is proposed as the stability criterion of walking, and the motion simulation is completed based on Matlab. The results show that the data of each joint of the biped robot are in good agreement with the gait parameters in the process of squatting walking, thus verifying the effectiveness of the squatting gait.

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Photo by Eirc Shi on Unsplash

Photo by Eirc Shi on Unsplash

Why is it important?

Because of the complex structure and high coupling degree of the biped robot, its gait is easy to be disturbed by the external environment, so the fast and stable gait planning method is particularly important. In order to effectively improve the walking stability of biped robot, this paper describes the process of squat walking gait according to its mechanical structure and freedom configuration, and makes trajectory planning for its center of mass and key joints. The idea of generating stable gait by changing ZMP points is proposed as the stability criterion of walking, and the motion simulation is completed based on Matlab. The results show that the data of each joint of the biped robot are in good agreement with the gait parameters in the process of squatting walking, thus verifying the effectiveness of the squatting gait.

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