The Gait Planning And Simulation Of Biped Parallel Walking Robot Basing On Virtual Prototype

Biped walking robot has some semblable walking characters as human walking, which is the strong adaptability to surrounding. So, the researching on biped walking robot has become an active task in robotics. With the developing of technology and software, hardware of computer, the studying method on biped robot becomes more and more.The studying object in this paper is leg mechanism of biped walking robot, whose single leg is basing on Stewart plat. The walking stability is the most important question to biped walking robot. The primary symbol that distinguishes the walking robot from other robots is the stable, natural walking, which is the base of realizing other basic function. The walking stability has direct relation to the gait of the robot, and whether the gait is nicer is vital to the stability. By researching of the walking habit of human being, we proceed the gait planning of biped walking robot, decide the single foot supporting and double feet supporting, and bring forward the principle of phase divided and divide a gait cycle into eight sub-phases. That guarantees the continuity, stability of the whole walking. By using the ZMP theory we calculate the stability of the walking robot, and provide the condition of static stable walking.In this paper, we use the design method of virtual prototype. In simulation software MSC.ADAMS, we build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.