Locomotions of a Biped Robot: Static vs. Dynamic Gaits

이족 로봇의 위치 이동: 정보행 대 동보행

  • 임승철 (명지대학교 기계공학과) ;
  • 고인환 (명지대학교 대학원 기계공학과)
  • Published : 2006.06.01


This paper is concerned with computer simulations of a biped robot walking in static and dynamic gaits. To this end, a three-dimensional robot is considered possessing a torso and two identical legs of a typical design. For such limbs, a set of inverse kinematic solutions is analytically derived between the torso and the feet. Specific walking patterns are off-line generated meeting stability based on the VPCG or ZMP condition. Subsequently, to verify whether the robot can walk as planned in the presence of mass and ground effects, a multi-body dynamics CAE code has been applied to the resulting joint motions determined by inverse kinematics. As a result, the key parameters to successful gaits could be identified including inherent characteristics as well. Upon comparisons between the two types of gaits, dynamic gaits are concluded more desirable for larger humaniods.


Walking Pattern Generation;Inverse Kinematics;Stability;ZMP;Actuator Specification;Humanoid


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Cited by

  1. Precision Circular-path Walking of a Biped Robot with Consideration of Rotational Effects vol.24, pp.4, 2014,