Gait research and simulation analysis of biped robot

摘要

With the continuous development of robot research field, the research and application of humanoid biped robot has received widespread attention. Humanoid biped robot integrates many frontier disciplines such as machinery, electronics, computer, control and biology¹. In this paper, according to the theoretical basis of human biology, the mechanical structure of the biped robot body is designed, and the mathematical knowledge needed to establish the coordinate system of each rod of the biped robot is given. The forward and inverse kinematics of the robot are modeled respectively by using the homogeneous coordinate transformation, which lays a theoretical foundation for the subsequent gait planning². A walking model based on 3d inverted pendulum model was generated, and a dynamic walking experiment was carried out to verify the feasibility and effectiveness of the gait planning method. The stable gait path is programmed by simulation, and then its stability is determined.