Research on walking stability of biped robot

Studies imitating bipedal movement has significant meaning to exploit biped robot. However, biped robot is facing a challenge of low stability. This paper mainly tries to what factor will affect the walking stability of biped robots at the control level. Speed, acceleration and frequency of acceleration change are selected as the main research objects. Calculation of zero moment point (ZMP) is used to judge if the robot walks stable or not. ZMP plays a significant role in walking and running robots as it helps to predict and control the balance. Maintaining the ZMP within the support polygon ensures that the robot does not tip over. Then conducts virtual simulation experiments on Webots software by writing a control strategy with the built-in model in Webots, and finally analyzes the and discusses the experimental data results and proposes subsequent optimization programs like gait planning. Gait planning encompasses various techniques and algorithms to ensure that the robot can achieve desired movements while maintaining balance and adapting to external conditions.