Design Concept Of Passive Biped Walking Robot Model

Biped robot has been the forefront of the field of robot topic. Biped robot is at a relatively mature stage of development. However, the robot, as a result of consuming much energy, can't be durative to move. Passive dynamic robots depend on the forces of nature, its main energy consumption in the friction and collision. Passive robot is a group through the hinged joints of the rigid body rotation agencies, can take the initiative to drive in the absence of circumstances, make full use of the passive robot's own dynamics, and stability depend on gravity down the slope. Passive dynamic robots because of its simple structure and control, through simulation and experiment can be extracted from the essential characteristics of bipedal walking. Therefore, researching on passive robot has not only high academic value, but also considerable practical significance.Firstly, observe the laws of human walking, surveying the movement of people walking through the exercise cycle. Exercise the body through the optical parameter measurement method to determine parameters of human motion.Secondly, the study of two non-dynamic models: the ramless- wheel and passive biped walking robot model. Through the principle of conservation of angular momentum of the wheels on the ramless-wheel model collision analysis and energy loss analysis, and the use of ADAMS software simulation analysis ramless-wheel model and its improved model to determine the quality, length and the number of bars have a greater impact on their ; use of the knowledge dynamics of bipedal walking robot model of the passive set up the Lagrange equation, combined with a stable limit cycle analysis, simulation is found to support leg and swinging leg angular velocity, angular displacement have the corresponding regularity.Finally, in the study of these two models, based on the principle of compound pendulum starting point for the combined curve equation designed a simple robot passive structure of the passive robot. Simulation to verify the characteristics of instantaneous velocity collisions and sports, when velocity, acceleration, displacement patterns.In this paper, theoretical analysis and simulation analysis of the passive robot conducted a research. The results show that the robot can be a passive driving force for the case in the absence of sustained exercise, thereby enhancing the capacity of robot life.