Gait analysis of biped robot based on inverted pendulum model

Zichen Wan

doi:10.54254/2755-2721/13/20230710

Research Article

Open access

Published on 23 October 2023

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Wan,Z. (2023). Gait analysis of biped robot based on inverted pendulum model. Applied and Computational Engineering,13,58-67.

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Gait analysis of biped robot based on inverted pendulum model

Zichen Wan *^,1,

¹ University of Electronic Science and Technology of China

* Author to whom correspondence should be addressed.

https://doi.org/10.54254/2755-2721/13/20230710

Abstract

The spring inverted pendulum model was used to analyze the motion of the biped robots under different motion states and the effective model parameters were obtained. In this paper, the biped robot was simplified to an inverted pendulum model and the kinematics equations of the robot under different motion states were obtained. The kinematics equations were solved by MATLAB, and the analysis was used to get the right sports condition during motion process. The corresponding simulation of the inverted pendulum model was carried out based on MATLAB, a series of data such as the trajectory of mass point of the robot and the variation of the ground reaction force during motion process were obtained. By analyzing the results, the model parameters and conditions of the biped robots to keep stable in different motion states were obtained.

Keywords

biped robots, inverted pendulum model, gait analysis

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Cite this article

Wan,Z. (2023). Gait analysis of biped robot based on inverted pendulum model. Applied and Computational Engineering,13,58-67.

Data availability

The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.

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About volume

Volume title: Proceedings of the 5th International Conference on Computing and Data Science

Conference website: https://2023.confcds.org/

ISBN：978-1-83558-017-2(Print) / 978-1-83558-018-9(Online)

Conference date: 14 July 2023

Editor：Roman Bauer, Marwan Omar, Alan Wang

Series: Applied and Computational Engineering

Volume number: Vol.13

ISSN：2755-2721(Print) / 2755-273X(Online)

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