Influence of Biped Robot’s Walking Parameters on its Stability

Abstract

Abstract:In the biped robot's walking process, walking parameters have important influence on its stability. In this article we based on the ZMP criterion, using the relationship between ZMP and the support area to judge the walking stability. Calculate the size of stability margin to analyze the influence of parameters' change on stability. By programming in MATLAB and simulating in ADAMS, get the effects of gait parameters (step length, walk cycle, etc) on stability, put forward the reasonable selecting region of parameters, using genetic algorithm to get multiple sets of comprehensive parameters for analysis, the impact of each parameter on stability is identified. It may provide reference for the robot's gait planning later.