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Whole body motion generation of 18-DOF biped robot on flat surface during SSP & DSP

The present work explains the dynamically balanced gait generation of an 18-DOF biped robot on a flat surface during both double support phase (DSP) and single support phase (SSP). To generate the said gaits, cubic polynomial trajectories are assumed to be followed by the swing foot and wrist end of the hand. Further, the hip joint is assumed to follow a straight line and cubic polynomial trajectories in the sagittal and frontal planes, respectively. A closed form solution methodology based on inverse kinematics is used for determining the joint angles made by various links of the biped robot. Once the gait related to upper and lower limbs of the two legged robot is generated, the balance of the generated gait is decided by finding the position of zero moment point (ZMP). Moreover, Lagrange–Euler formulation is used for calculating the dynamics of the biped robot. Further, the effectiveness of the developed algorithm in terms of generating dynamically balanced gaits on flat surface has been verified in computer simulations. Further, the generated gait has been tested on a real biped robot.