Walking of a biped robot balanced with a reciprocating torso

Abstract

The results of walking tests on a five degree of freedom (DOF) biped robot are presented in this paper. The robot is developed at the Instituto Tecnológico de La Laguna in Mexico and uses a reciprocating mass as a balancing device. The gait pattern proposed for the biped is based on cycloidal motions that avoid impacts of the feet with the soil during the walking. The parameters of the synchronized motions of torso and limbs keep balanced the robot and avoid saturations of motor torques. Simulation of walking allow to verify the suitable behavior of the Zero Moment Point (ZMP) before to accomplish the tests. The obtained results of the experiments finally validate the efficacy of the proposed walking pattern.