Abstract
In this paper, the purpose is to establish a walking method for biped robot. By the zero dynamics with the simple underactuated system (Segway), we utilize the feature to design the walking strategy for biped robot. In the begin of this paper, we use the model of three-link robot, and add the sole in both feet, so there is an underactuated angle between the sole and the ground. By this way, we can make the biped robot walking more similar to nature human walking. After that, the full walking cycle was subdivided into five stages, including the humanoid motion like lift knee、heel landing、toes off the ground. At various stages has their own control objectives and control strategies, we utilize the ZMP (Zero Moment Point) feedback and trajectory planning to complete a walking cycle for biped robot. Finally, we use the simulation software to verify this walking strategy, and have preliminary completed a walking method for an underactuated biped robot.