Walking trajectory modeling of biped robot “Archi” for stable walking

In this paper the trajectory modelling of “Archi” robot for stable walking is presented. The walking trajectories and corresponding joints velocities and accelerations are generated according to the existing robot “Archi” parameters. Then the zero moment point (ZMP) analysis is performed for the obtained trajectory model in order to evaluate the walking stability. The results show that the generated trajectories can be used for controlling the stable walking of “Archi” robot.