GAIT PLANNING OF POLYARTICULAR BIPED
WALKING MACHINERY CHAIR

WANG Anlin¹  SHI Bin²  ZHAO Qunfei³  WU Renzhi¹  CHEN Ning¹

(1. Mechanic Engineering Institute, Tongji University, Shanghai 200092;
2. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200030;
3. School of Electronic Information and Electrical Engineering, Shanghai Jiaotong University, Shanghai 200030)

Abstract: Based on the configuration of the polyarticular biped walking machinery chair, the robot kinematics model is established through D-H method. By the walking gesture of the robot and the appraisal of the zero moment point (ZMP) in walking process analysis, a discretization optimization model is presented, which transforms process optimization into finite variable optimization. The appraisal of stability is used to optimize the walking process. Simulation study is provided on the dynamic walking procession. Result shows that the method adopted in this gait planning is available. These results can be used for the appraisal of stability in walking process of the polyarticular biped walking machinery chair and solving the multivariate functional problems of operating-mechanism of open loop multi-connecting rods.

Key words: Gait planning  Optimization  Zero moment point(ZMP)  Gait simulation

CLC No: TP24

国际科技合作重点(2003DF000017)和上海市科学技术委员会科研(041107039)资助项目. Received 20061117, received in revised form 20070403