Bibin P. George
ABSTRACT
Stable biped locomotion with minimum power requirement has become a major research topic as a result of the recent advances in humanoid robots. The paper deals with the gait generation of 12 degrees of freedom biped robot for dynamic walking and stair climbing. The main objective of the project is to simulate the gait pattern for dynamically stable locomotion in a structured environment. The kinematic analysis is done with Denavit--Hartenberg formulation and the dynamic analysis using Newton Euler method. The stability of the system is analyzed with Zero Moment Point concept.
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Index Terms
- Dynamic Biped Locomotion in Structured Environment
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