The Modeling And Gait Planning Research Of The Biped Walking Mechanism

With the rapid development of science, the humanoid robot is coming into sight, and has been widely used in social life and industrial production. Bipedal walking mechanism is the main part of humanoid walking robot, and it plays a key role. The research on bipedal walking mechanism has great significance both in theory and application.This subject made the modeling and simulation on biped walking mechanism, the main contents include:First, I designed the biped walking mechanism reference the principle of the human walking, make the degree of freedom and the main parameters of the mechanism. It includes the designing of the hip, knee and ankle.Secondly, in this article I made the kinematics modeling of the mechanism. And I made a biped walking robot forward and inverse kinematics modeling based on Screw Theory. Then it analyzes the stability of the biped walking mechanism.Then, according to the movement and structural characteristics of the biped robot, simplified the mechanism into an inverted pendulum, and made the offline gait planning of start, step and stop process, get the center’s movement trajectory and the analytical expression of the joint coordinates.Finally, made the virtual prototype of biped walking mechanism in ADAMS, get the kinematics simulation of the mechanism. Then, it analyzes the simulation data for each walking stage, and verified the validity of the gait planning.Through modeling, planning and simulation of the biped walking mechanism, I get the methods and experience. After, the design of the biped robot will play to shorten design cycles, reduce costs and improve the role of the feasibility, and promote the development of bipedal humanoid robot.