Review the methods and approaches for planning trajectory biped walking biped robot and introduce a new concept for maintaining the highest safety factor on uneven terrain during dynamic walking

Abstract

Biped robot expected to achieve stable walking on uneven terrains. For that, we should have some different algorithms to achieved generation robot trajectory with stable walking and controlling balance in different error patterns. In this paper presented a novel concept to solve the problem of finding the absolute position of foot of biped, in Cartesian coordinates with the largest stability margin, and then control the joint angles to obtain the desired absolute position at big angular momentum during dynamic walking of Biped Robot on uneven terrain.

Keywords

• biped robot
• walking robot
• planning trajectories of biped robot
• stability
• uneven ground
• reaction force distribution