Abstract
This research introduces the formulation of humanoid robot walking gait in dynamic form. The formula is generated based on three point location at each ankle and at the hip of the robot. Then the inverse kinematic geometric method was used to locate the entire joints angle trajectory for each link on the biped leg. The robot foot was equipped with the force sensor to determine the Zero Moment Point and the Centre of pressure of the robot foot during the walking. The robot was tested with the three variations of walking gait with different speed. © Springer-Verlag Berlin Heidelberg 2013.
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CITATION STYLE
Daut, M. N., Azyze, N. L., Sanhoury, I. M. H., Nafis, M. L., & Amin, S. H. M. (2013). Stable Dynamic Walking Gait Humanoid. In Communications in Computer and Information Science (Vol. 376 CCIS, pp. 427–440). Springer Verlag. https://doi.org/10.1007/978-3-642-40409-2_36
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