THE DYNAMICS AND CONTROL OF A BIPED WALKING ROBOT WITH 7 DEGREES OF FREEDOM

This research studies the dynamics and motion control of a biped walki ng robot with seven degrees of freedom. The main features of the biped robot include variable length legs and a translatable balance weight in the body. The statically stable walking of the biped robot is imple mented by maintaining the center-of-gravity (cg) inside the convex reg ion of the supporting foot/feet during both single-support and double- support phases. The dynamically stable walking of the biped robot is r ealized by maintaining the zero moment point (ZMP), which is the virtu al total ground reaction point, within the region of the supporting fo ot during the single-support phases. An implementation of a prototype biped BR-1 and its experimental walking test results are described. Th e biped robot is able to walk on an even floor both statically and dyn amically. On a flat plane, the biped can walk with a speed of 8 cm/sec ond statically, and 20 cm/second dynamically.