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The Gait Planning Design for Biped Robot

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Frontier Computing (FC 2022)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 1031))

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Abstract

In this paper, the problems of the gait planning for biped robot are explored. For gait planning, the parameters are established based on the postures of static walking and dynamic walking. According to the equilibrium state, every angles and positions of biped robot joint can be obtained by inverse kinematics.

An embedded system is realized to validate the proposed gait planning algorithm. To reduce the angle error between the calculation and real result, high torque digital servo motor is used. The posture parameters are adjusted according to the different situations. The experimental results are demonstrated via the developed biped robot and it shows the feasibility and the effectiveness of the proposed algorithm.

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References

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Author information

Authors and Affiliations

  1. National Sun Yat-Sen University, Kaohsiung, 804, Taiwan

    Shun-Hung Tsai

  2. National Taipei University of Technology, Taipei, 106, Taiwan

    Kuan-Yo Chen &  Yu-Liang

  3. National Yang Ming Chiao Tung University, Taipei, 112, Taiwan

    Dong-Yuan Lyu

  4. National Taichung University of Science and Technology, Taichung, 403, Taiwan

    Hung-Yi Lin

  5. National Taiwan University, Taipei, 106, Taiwan

    Luh-Maan Chang

Authors
  1. Shun-Hung Tsai
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  2. Kuan-Yo Chen
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  3. Yu-Liang
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  4. Dong-Yuan Lyu
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  5. Hung-Yi Lin
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  6. Luh-Maan Chang
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Corresponding author

Correspondence to Hung-Yi Lin .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Information Engineering, National Taichung University of Science and Technology, Taichung City, Taiwan

    Jason C. Hung

  2. School of Computer Science and Engineering, University of Aizu, Aizuwakamatsu, Fukushima, Japan

    Neil Y. Yen

  3. Department of Computer Science and Information Engineering, National Taichung University of Science and Technology, Taichung City, Taiwan

    Jia-Wei Chang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Tsai, SH., Chen, KY., Yu-Liang, Lyu, DY., Lin, HY., Chang, LM. (2023). The Gait Planning Design for Biped Robot. In: Hung, J.C., Yen, N.Y., Chang, JW. (eds) Frontier Computing. FC 2022. Lecture Notes in Electrical Engineering, vol 1031. Springer, Singapore. https://doi.org/10.1007/978-981-99-1428-9_9

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  • DOI: https://doi.org/10.1007/978-981-99-1428-9_9

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-1427-2

  • Online ISBN: 978-981-99-1428-9

  • eBook Packages: EngineeringEngineering (R0)

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