Design and Implementation of Big Humanoid Robot Walking Patterns Based on Inverted Pendulum Approach.

The heavy weight of a big humanoid robot body makes its dynamics considerable. Therefore, the walking pattern derived according to only kinematics is difficult for a big humanoid robot walking. In this paper, the dynamics of a big humanoid robot is approached to an inverted pendulum for its walking pattern. The inverted pendulum approach regards the humanoid body as a point mass to simplify walking pattern parameters. However, parameter uncertainty is not avoided, and usually joint servo motors cannot provide enough torque for the big humanoid robot walking. In this paper, the actual servo motor move trajectories in experiments are read back to compare with the desired ones. The errors between the desire and actual trajectories are used to modify the designed trajectories. Experimental results show that the big humanoid robot can walk very well after modifying.