Development and path planning of a biped robot

Abstract

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. © 2012 Springer-Verlag.