Study on influence of hip trajectory on the balance of a biped robot

Abstract

Balancing of a biped robot plays an important role, as it has to walk on two feet while moving from one place to another to execute the task assigned to it. The present research paper is mainly focusing on the study of influence of hip trajectory on the balance of an 18-DOF biped robot in single support phase (SSP) while walking on the flat floor. Two different types of trajectories, namely straight line and particle swarm-based cubic polynomial are considered for the hip joint. The gaits for the lower and upper limbs of the robot are generated by using the concept of inverse kinematics after considering the said options for the hip trajectory. The balance of the robot is determined by calculating the Dynamic Balance Margin (DBM) of the generated gait. Further, the two developed approaches are tested for their capability to generate dynamically balanced gaits in computer simulations.