Walking Pattern Generation for Humanoid Robots
Liu, Ruisen (Eric)
This project explores the design and implementation of walking patterns for humanoid robots. This report presents a brief introduction to human walking and the exploration of two walking pattern generation techniques for humanoid robots: Zero Moment Point (ZMP) Preview Control and Stretched Leg Walking. Both walking patterns are then implemented and optimized on the DARwIn-OP, an I8-inch, 20 dof robot to examine relative merit in imitating humanlike motion.
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