Analysis of the dynamics of a biped robot with seven degrees of freedom

This paper studies the dynamics of a biped walking robot with seven degrees of freedom. The main features of the biped robot include variable length legs and a translatable balance weight in the body. Dynamically stable walking of the biped robot is realized by maintaining the zero moment point (ZMP), which is the virtual total ground reaction point, within the region of the supporting foot during the single-support phases. An implementation of prototype biped BR-1 and its experimental walking test results are described. On a flat plane, the biped can walk dynamically with a speed of 16 cm/second.