Abstract This research introduces the formulation of humanoid robot walking gait in dynamic form. The formula is generated based on three point location at each ankle and at the hip of the robot. Then the inverse kinematic geometric method was used to locate the entire joints angle trajectory for each link on the biped leg. The robot foot was equipped with the force sensor to determine the Zero Moment Point and the Centre of pressure of the robot foot during the walking. The robot was tested with the three variations of walking gait with different speed.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Stable Dynamic Walking Gait Humanoid

    Daut, M.N. / Azyze, N.L. / Sanhoury, I.M.H. et al. | British Library Conference Proceedings | 2013


    WALKING-STABLE HUMANOID BIPED LEG MECHANISM

    ZHAN KUIHUA / QIU ZIJIE / LU YUHAO | Europäisches Patentamt | 2023

    Freier Zugriff

    From Walking to Running: 3D Humanoid Gait Generation via MPC

    Filippo Maria Smaldone / Nicola Scianca / Leonardo Lanari et al. | BASE | 2022

    Freier Zugriff

    From walking to running: robust and 3D humanoid gait generation via MPC

    SMALDONE, FILIPPO MARIA | BASE | 2023

    Freier Zugriff