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Dynamic Simulation of Single and Combined Trajectory Path Generation and Control of A Seven Link Biped Robot

Recently, numerous collaborations have been focused on biped robot walking pattern to trace the desired paths and perform the required tasks. In the current chapter, it has been focused on mathematical simulation of a seven link biped robot for two kinds of zero moment points (ZMP) including the Fixed and the Moving ZMP. In this method after determination of the breakpoints of the robot and with the aid of fitting a polynomial over the breakpoints, the trajectory paths of the robot will be generated and calculated. After calculation of the trajectory paths of the robot, the kinematic and dynamic parameters of the robot in Matlab environment and with respect to powerful mathematical functions of Matlab, will be obtained. The simulation process of the robot is included in the control process of the system. The control process contains Adaptive Method for known systems. The detailed relations and definitions can be found in the authors’ published article [Musavi and Bagheri, 2007]. The simulation process will help to analyze the effects of drastic parameters of the robot over stability and optimum generation of the joint’s driver actuator torques.