Development and Path Planning of a Biped Robot

  • Rui Li
  • Zhijun Li
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7621)


In the paper,we present a dynamic model for biped robot with 12 degrees of freedom(DOF). We apply static walking pattern to the biped robot and planning its walking pattern based on bionics law of motion and zero moment point(ZMP). Each motor is equipped with an Elmo driver, which greatly facilitate the hardware structure of the biped robot. The experiments are conducted to verify the effectiveness of this system and the proposed walking pattern.


Biped Robot ZMP Walking Pattern Planning Elmo driver 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Rui Li
    • 1
  • Zhijun Li
    • 1
  1. 1.Department of AutomationShanghai Jiao Tong UniversityShanghaiP.R. China

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