Dynamic Walking Experiments for Humanoid Robot (original) (raw)

Advances in Intelligent Systems and Computing, 2018

Abstract

This paper is focused on improvement of the humanoid robot walking by conducting dynamic walking experiments, based on human pattern gait parameters. The proposed approach has been tested and implemented to the Bioloid robot, firmly by simulating the robot on the Matlab program. Humanoid interaction considers that the robot starts and finishes the walk with the Double Support Feet (DSF). In this paper is presented the kinematic model of the Bioloid robot based on Denavit-Hartenberg (D-H) convention. To imitate the human walking, a three dimensions trajectory of the feet and the hip has been developed. For the design of the trajectories, first motion constraints during walking have been derived based on the human walking pattern. The sinusoidal spline interpolation is used to find the smooth trajectories for the foot and the hip in both single and double support phases are implemented on the Bioloid robot. In order to realize the humanoid walking in the sense of static stability, the robot’s centre of gravity during the walking was located within the support foot area. After tests with different step lengths and step heights, we are able to analyse the end-effector of each walking parameter before implementation into the real humanoid robot.

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