이족 보행 로봇의 초기 자세에 따른 걸음새 해석에 관한 연구

초록

This paper deals with the biped robot gait on changing the initial postures. Gait of a biped robot depends on the constraints of mechanical kinematics and initial posture. Also biped robot's dynamic walking stability is investigated by ZMP(Zero Moment Point). The path trajectory, with the knee joint bent like a human, is generated and applied with the above considerations. To decrease trajectory tracking error, in this paper, a new initial posture similar to bird's case is proposed and realized with the real robot.