An Optimization of Trunk Angle in Biped Robots in Generating a Stable Path in Up-stairWalking

Biped robots due to their highly similarity to human havethe ability to move in different and non-idealenvironments. However, they can easily become unstableby external disturbances. In order to keep the robot stable,it is necessary to satisfy contact constraints by footcomponents. The purpose of this research is to design astable path for a planar robot to go up the stairs. The systemof study is a biped planar robot with active joints that canmove with specified speed. This model consists of a robotwith seven degrees of freedom. At the beginning, theconstraints related to each component of legs areformulated and then a path by considering history ofmovement circumscriptions is obtained by integration ofaccelerations terms and also constraints of dynamicequilibrium method (ZMP) is considered to it. Then bychanging the trunk angle, a highly stable path is optimizedand obtained that it has more accurate path and errorfunction is reduced. Checking the accuracy of this methodis carried out by computer simulation.

کلیدواژه ها:

Biped robot ، Up-Stair walking ، ZMP ، Pathdesigning ، Robot simulation ، Trunk angle ،