In this paper, we design and implement a biped robot to immitate human walking pattern. The robot is vertical symmetric in shape and balanced in weight. 12 RC servo motors are used to operate the joints. And the joints have enough moving ranges suitable in any walking pattern.
Although biped robots have better mobility than conventional wheeled robots, it is hard for the biped robots to keep balance during walking. Therefore, stable walking is the key point for the biped robots at present.
Here, each joint trajectory is generated by cubic spline interpolation method and the stability of the trajectory is verified by using ZMP from the robot modeling. Nevertheless, we can not assure the stability of the real robot because of uncertainty of modeling, uneven terrain, error of zero point adjustment and etc.
To solve the above problem, a simple and effective sole structure to measure the ZMP of the biped robot and to improve the stability of the biped robot by immediating ZMP compensation methods in emergence situation is suggested.
Finally, a communication architecture for PC and robot communication is designed. This architecture uses dual micro-controllers to get joint trajectory in each sampling time, controls 12 RC servo motors and compensates the ZMP concurrently in a slow speed communication line.
