Dynamics and motion regulation of a five-link biped robot walking in the sagittal plane

摘要

Five-link biped has been developed for decades with advantages of its simplicity in modeling and adequacy in representing typical bipedal locomotion.However, establishment of modeling and control for the five-link biped has not been achieved satisfactorily.This thesis presents a systematic study of the dynamics and control of fivelink biped walking on level ground.Firstly, the dynamic model of a complete gait cycle in the sagittal plane is developed, which includes the single support phase, double support phase and impact.A novel kinematic model has been constructed for the five-link biped by modifuing the conventional definition of certain physical parameters of the system and it has greatly simplified the derivation procedure and the final form of the dynamic equations.A general model to describe the impact dynamics of planar multilink robotic collisions is also formulated and solved for cases when the Jacobian matrices are either full-ranked or rank-deficient.