Software package for analysis and programming of experimental walks of the Bioloid humanoid robot

This article presents the SYGABIR (System for Gait Analysis of Bipedal Robots), a software package that integrates a set of computational tools aimed at analyzing the walking of the Bioloid humanoid robot. The graphical interface allows the user to perform the successive stages of computation and simulation required to obtain the joint control signals that allow the robot to walk stably in an experiment, for a given set of parameters that determine the robot’s gait. As a result of a typical walking simulation, the package displays graphs that help the user to analyze the given gait, according to different criteria. The analysis on SYGABIR is supported by dedicated tools, and other functions provided by Webots© and R+Motion. Furthermore, the interface allows the user to order the execution of the experiment or to modify the initial parameters in order to obtain a different gait. The application of the software package in a case study illustrates the usefulness of SYGABIR in research processes related to humanoid gaits.