Design and walking pattern generation of a biped robot

This paper presents the design of a biped robot, the walking trajectory generation method, and experi-mental results about biped walking. Walking trajectory generation is one of the deterministic factors in walking robotapplications. Different approaches for stable walking trajectory are worked on in robotic research. The linear invertedpendulum model (LIPM) is an effective method used with the zero moment point (ZMP) criteria. Biped robot trunk andfeet moving patterns are generated depending on these fundamental methods. In this study, generated trajectories weretested by a 12 degree of freedom (DOF) biped robot RUBI built at Dokuz Eylül University. In the experimental work,the joint angles obtained by using inverse kinematics from the generated trajectories were implemented on the robot.The results showed that even with a simple control system implementation of generated trajectories is very promising interms of stability and reducing complexity.

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