Stability Experiment of a Biped Walking Robot with Inverted Pendulum

초록

This paper is concerned with a balancing motion formulation and control of the ZMP (Zero Moment Point) for a biped walking robot that has a balancing weight of an inverted pendulum. The original dynamic stability equation of a walking robot is nonlinear; because it’s balancing weight is an inverted pendulum type. The stabilization equation of a biped walking robot is modeled as a linearized non-homogeneous second order differential equation with boundary conditions. With the FDM (Finite Difference Method) solution of the linearized differential equation, a trajectory of balancing weight can be directly cal-culated. Furthermore, it makes that possible input the desired ZMP or ZMP trajectory for various gait, situation and complex motion. Also, it can be easily approximated that a balancing range or motion when some link parameters are changed; es-pecially a balancing mass is changed. In this paper, the simula-tor with a balancing weight of an inverted pendulum is pro-grammed to get and calculate the desired ZMP and the actual ZMP. The operating program is developed for a real biped walking robot IWRIII-IP. Walking of 6 steps will be simulated and experimented with a real biped walking robot. This bal-ancing system will be applied to a biped humanoid robot, which consist legs and upper body, at future work.