Stable Walking Motion NAO Humanoid Robot Using Cubic Polynomial Method

Mohd Ariff, Radzuan (2013) Stable Walking Motion NAO Humanoid Robot Using Cubic Polynomial Method. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Most common forms of locomotion for humanoid robots are walking and running. It is a difficult task to create a stable walking pattern for several reasons. One of the reason is a bipedal robot often rather be in stable condition when standing on both its feet, the robot itself has to lift one of its supports from the ground to take a step when starts to walk. This condition is able to make robot in unstable and making it to fall over. Another reason is the complexity of the walking pattern itself. In order to create better walking pattern all joint s of robot have to be in one complete motion. Multi joint that are changing while walking gives a great impact to the stability of the robot itself. It is tough task to construct a balancing system for such a robot. By taking stability measures as a primary objective, a stable walking motion must be develop. In this thesis, the development of a stable walking motion requires human-like robot simulation. This simulation based on the method that being used in finding the stability which refers to Zero Moment Point (ZMP) of the robot. The main purpose is to achieve a stable walking motion by using cubic polynomial method. Due to optimize the recent the stability, the walking motion should able to maintain the stability within changing of the speed of walk. Throughout the simulation, walking pattern 3 which 0.13 m step length gives better stability measurement compared to other two walking patterns. The behavior of the robot can be seen through the position, velocity and acceleration profiles gained from the cubic polynomial method. The result will be the knowledge on how to maintain stability while walking and practice a proper and good gait. This knowledge will provide a better guide to practice healthier walking in our daily activities that involving walking motion

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