Biped Robot’s Dynamic Walking Control by D-H End-executor Method

Abstract

In the dynamic imitation control of biped robot, the posture of landing foot is important, D-H method is the base theory for controlling terminal operator of the robot motion, When biped robot walking on a plane surface, if the landing foot can’t parallel with the surface, the robot will doesn’t keep a good balance and may be fall down. Therefore, how to use the kinematic analysis which to realize the stable control for terminal operator of essential for the research. This paper presents the process of extracting all the data necessary to implement forward/positive or inverse/negative kinematics low body of a biped robot, which has 10 joints in its legs. The experimental results show that the D-H End-executor method is a good method in biped robot’s imitation control.