SYNTHESIS BIPED DYNAMIK WALKING BASED ON OFFLINE TRAJECTORY GENERATION

The aim of this paper consists in development of a method for motion trajectory synthesis of a biped anthropomorphic robot on the basis of ZMP-concept. In this paper the suggestion is made to implement the process of dynamic walking of the biped robot in two stages: trajectory generation of a dynamic stable motion of the robot on the basis of his mathematical model in offline-mode and tracking of the received walking trajectories with use of a supple-mentary stabilizing (control) system.