Gait Stability Analysis of Biped Walking Chair Robot Based on Its Mechanical Parameters

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.