Biped robots due to their high similarity to humans have the ability to move in different and non-ideal environments. However, they can easily become unstable by external disturbances. In order to keep the robot stable, it is necessary to satisfy contact constraints by foot components. The purpose of this research is to design a stable path for a planar robot to go up the stairs. The system of study is a biped planar robot with active joints that can move with specified speed. This model consists of a robot with seven degrees of freedom. At the beginning, the constraints related to each component of legs are formulated and then a path by considering the history of movement circumscriptions is obtained by integration of acceleration terms and also constraints of dynamic equilibrium method (ZMP) is considered to it. Then by changing the trunk angle, a highly stable path is optimized and obtained that it has the more accurate path and error function is reduced. Checking the accuracy of this method is carried out by computer simulation.
An Optimization of Trunk Angle in Biped Robots in Generating a Stable Path in Up-Stair Walking
Mechanical Engineering, the 23rd Annual International Conference on, ISME
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