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This paper studied the KHR-1biped robot made by the KONDO Company, and programmed a complete set of walking planning. It designed a walking trajectory suitable for the KHR-1 robot, based on its form and structure, evaluated the stability of ZMP point of the robot, and used inverse kinematics to drive the 3D/VR and KHR-1 robot in the monitoring system, in order to propose a walk trajectory plan, as well as the walking path planning with horizontal swing of the waist of the robot and the initial and final movements of other parts are proven to be feasible by using ZMP method. Finally KHR-1 successfully presented the planned walking path. In addition, one set of a robot emulation program was designed. The procedures could be performed automatically by inputting the characteristic parameters of the robot, then the rotation angle of motor for each joint could be written directly into the robotpsilas system and executed.