INVERSE KINEMATICS AND INVERSE DYNAMICS FOR CONTROL OF A BIPED WALKING MACHINE

Analytical techniques are presented for the motion planning and contro l of a 12 degree-of-freedom biped walking machine. From the Newton-Eul er equations, joint torques are obtained in terms of joint trajectorie s, and the inverse dynamics are developed for both the single-support and double-support cases. Physical admissibility of the biped trajecto ry is characterized in terms of the equivalent force-moment and zero-m oment point. This methodology has been used to obtain reference inputs and implement the feedforward control of walking robots. A simulation example illustrates the application of the techniques to plan the for ward-walking trajectory of the biped robot. The implementation of a pr ototype mechanism and controller is also described.