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Mechanics in Engineering ›› 2006, Vol. 28 ›› Issue (6): 0-0.doi: 10.6052/1000-0992-2005-388

• Application study •    

MATHEMATICAL MODELING FOR THE BIPED ROBOT WITH HIGH DEGREES OF FREEDOM AND THE GAIT CONTROL

  

  • Received:2005-10-13 Revised:1900-01-01 Online:2006-12-10 Published:2006-12-10

Abstract: The paper presents a mathematical modeling study on the gait stability control of a 17 degrees of freedom biped robot, based on ZMP theory and the Pose Transformation Matrix, with the mathematical description of relative center of gravity and relative reference frame. The proposed mathematical model can describe the stability control of robots. It is shown, by Matlab mathematical computation and emulation study, that this model can describe the walking rules of biped robots, which means that gait stability control of biped robots can be achieved. The whole model is encapsulated into a visual system by VC++ so that the model can be brought under a practical control, thus providing a technical support for the study of real-time control of future robots.

Key words: gait stability control, mathematic modeling, ZMP, genetic algorithms