Modeling of Biped Robot Archie

摘要

This paper is focused on modeling improvement and ZMP (Zero Moment Point) trajectory generation of the Archie humanoid robot. The work deals with the stability analysis of two legged robots during walking. It looks like more difficult to analyze the dynamic character of walking robot because of the complexity of mathematical description. In this context most of humanoid robots are based on the model of control, and this method needs to model the robot itself and the surrounding environment. In this paper, we use the SimMechanics of MATLAB toolbox to build the computer model of the humanoid robot and conduct the robot overall simulation of the robot movement.