보행로봇의 시뮬레이터개발에 의한 보행패턴계획의 기초적 연구

Abstract

In this paper, a new simulator of the biped robot for planning walking patterns was showed. And this simulator(MHBiped) is able to not only visualize the plan of patterns but also verify whether a biped robot design is suitable. In addition, MHBipd can modify various kinds of walking parameters and the trajectory of biped robot. Therefore, a new biped robot can be designed easily by the this simulator before you apply to a robot. As a result, a well-balanced parameters of walking patterns watching the movement of CG and ZMP can be obtained. Walking patterns should be changed according to both the existence of obstacles and conditions of ground and it can be described by the trajectory of hip and ankles. All those trajectorys can be also obtained by the cubic spline functions and the way of modeling walking patterns. The results of simulator, the movement function of CG and ZMP, the cubic spline functions and modeling of biped robot were introduced in this paper. And the effectiveness of this simulator was confirmed by the simulations.