Design of Dynamically Balanced Gait for the Biped Robot While Crossing the Ditch

Abstract

The current research work aims to generate the dynamically balanced gait for the 16-DOF biped robot while crossing the ditch by using the concept of the zero moment point (ZMP). Initially, forward kinematics was established to obtain the position and orientation of the biped robot while crossing the ditch. The various joint angles of the biped robot were estimated by deriving the inverse kinematics. Further, the dynamics of the biped robot was obtained using the Lagrange-Euler formulation. A cubic polynomial equation was assigned for the smooth motion of foot and wrist trajectories in the sagittal plane and hip trajectory in the horizontal plane. The obtained cubic polynomial trajectory for the foot was compared with the second-order and fifth-order polynomial trajectories in terms of dynamic balance margin (DBM). A simulation study was conducted to verify the dynamically balanced gait while crossing the ditch. Finally, the generated gait angles were tested on a real 16-DOF biped robot. It has been found that the generated gait is more dynamically balanced while crossing the ditch.