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Erschienen in:
2016 | OriginalPaper | Buchkapitel
Sagittal Position Analysis of Gait Cycle for a Five Link Biped Robot
verfasst von : Ramanpreet Singh, Himanshu Chaudhary, Amit Kumar Singh
Erschienen in: CAD/CAM, Robotics and Factories of the Future
Verlag: Springer India
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Abstract
It is difficult to comprehend the humanoid walking trajectory due to large number of degrees of freedom during walking. This paper treats the trajectory planning for steady walking of planar 5 link biped robot on a leveled ground for single support phase and double support phase. To obtain smooth and continuous walking trajectory polynomial interpolation has been used for hip and swing limb, and polynomial coefficients are determined through constraint equations. A Double support phase (DSP) is generally neglected in gait synthesis at high walking speeds but for stable biped model with moderate walking speeds DSP must be considered. In this article geometric approach of inverse kinematic is used for generation of joint trajectories in single and double support phase. Effects of the proposed method (inverse kinematic for double support phase) are illustrated by computer simulations.