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| Gait Stability Analysis of Biped Walking Chair Robot Based on Its Mechanical Parameters |
| CAO Xi1, ZHAO Qun-fei2, MA Pei-sun1 |
1. Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200030, China;
2. Institute of Image Processing & Pattern Recognition, Shanghai Jiaotong University, Shanghai 200030, China |
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Abstract Influence of mechanical parameters of biped walking chair robot on ZMP(Zero Moment Point)stability margin is studied.With a stable and fixed parameterized gait,ZMP stability margin is analyzed while changing the robot links' mass,moment of inertia and CM(center of mass)position.Simulation results show that ZMP stability margin is greatly improved by properly selecting the mechanical parameters of thigh,shin and trunk,and the difficulty of servo control is decreased.
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Received: 07 June 2006
Published: 15 May 2007
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