Walking Algorithm for Small Humanoid
نویسندگان
چکیده
This thesis describes the design and implementation of a Walking Algorithm for the humanoid robot. The humanoid is intended to be an autonomous robot, and has a total of 6 degrees of freedom coming from the hip joint, knee joint and ankle joint for each leg. The aim of this thesis project is to develop a walking pattern to control and walk in a stable manner. Exploit methods for developing a natural dynamic motion for small humanoid robots. The frontal swing of the gait or bipedal walking algorithms can be modeled by simple inverted pendulum models. With a combination of Bezier Curves, experimental robot had implemented a smooth gait, which looks quite natural.
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