Biped robot-based walking on uneven terrain: Stability and zero moment point (ZMP) analysis

Robots are robots that are controlled by a software program or electrical circuitry and are programmed to execute sophisticated, often repetitive tasks. Biped robots are fascinating because they resemble human movement in certain ways, leading to the term "humanoids" being used to them. Locomotion refers to an organism’s capacity to move from one location to another. It might be self-propelled or reliant on its surroundings. Walking, crawling, swimming, rolling, jumping, and burrowing are some of the most prevalent locomotion techniques. It is more capable than any other sort of robot of performing successfully in a human-oriented setting with excellent harmony. In this study, two situations of uneven terrain walking are investigated. In the first situation, the biped robot is believed to be walking at half the pace of flat terrain walking, while in the second case, the speed of uneven terrain walking is supposed to be the same as flat terrain walking. This dynamic model and the foot construction help a biped robot walk more steadily over rough terrain.