Development of multi-phase dynamic equations for a seven-link biped robot with improved foot rotation in the double support phase

摘要: Gait generation plays a significant role in the quality of locomotion legged robots. This paper presents development multi-phase dynamic equations and optimal trajectory for seven-link planar-biped robot walking on ground level with consideration feet rotation double support phase. The main contribution this is to increase stability margin at phase transition time simultaneous by introducing new style rotation. First, derivation dynamics equations, which challenging problem due existence holonomic constraints, performed using Lagrangian formulation. Then, an analytical solution inverse kinematics proposed determine angles each joint. A multi-objective genetic algorithm-based optimization technique obtain key parameters so that zero moment point tracks predefined stable additionally min...