Analysis of Body Angle Parameter Effect and Stable Path Planning of 2 Legged Robot (Biped)

Section: 
Research
Subsection: 
Course Project
Place: 
Department of Mechanical Engineering
Isfahan University of Technology (IUT)
Isfahan (Iran)
Associate: 
A. Nasr
M.J. Sadigh
Date: 
2012/06/22

Two-legged robots (bipeds) are better than other robots to move progressive capabilities, but have the problem of instability. First, the kinematics and dynamics of this robot modeled. Then, zmp method used as criteria in order to have a stable robot by optimization of body angle.