Straight Legged Walking Control of Biped Robot with Forefoot Mechanism

Comparing to other kinds of robot, biped robot has the advantage of obstacle crossing based on its multiple linkages design. However, multiple linkages design which contains many degrees of freedom increases the difficulty of balance control during dynamic walking. To solve the problem of balance control, the gait design has become an important topic to the dynamic walking of biped robot.
The main purpose of this study is to design a straight lagged walking control for biped robot based on forefoot mechanism. In this study, a biped robot which equipped a pair of forefoot mechanisms is designed by using Pro/ENGINEER 4.0. This robot contains 12 degrees of freedom. The robot control model is built by forward kinematic method. The zero moment point (ZMP) trajectory design is used as a main reference for robot dynamic walking, and also as a criterion of robot balance. Moreover, the joints angle of human gait is used to make a sub reference of robot straight lagged walking. The joints angle data can also decrease the calculation loading of robot inverse kinematic model. Finally, a straight lagged walking of biped robot can be implemented by using forefoot mechanism.