Biped Walking Robot Kinematics Analysis And Simulation

The biped walking robot technology is developing rapidly in recent years, because ofits high academic and practical value. It cross multiple disciplines, imitate the way ofhuman’s walking, have better flexibility than other types of robots, and can be morecoordinated help mankind to complete the task. Biped robot has become a focus of thefield of robotics research. This paper studies some fundamental questions, such as: DOFdisposition, kinematics derivation, mathematical modeling, the analysis of simplemovement patterns, the robot ideal3D modeling and so on. The researches include:The biped robot leg’s DOF is analyzed and completed its disposition, and the robothip and ankle DOF’s rotating shafts intersect into each intersecting point in the generalprinciple. Then the drive is selected relatively. Through the research of actual human bodysize, the robot leg bar size and the range of motion of each joint is analyzed and confirmed.The origin of the robot coordinate system is settled and the derivation of robot kinematicsis completed, which is a good theoretical basis for the follow-up robot modeling andsimulation. After decomposing the biped robot leg structure reasonably and confirming andthe data structure, the kinematical test interface is completed by using MATLAB. The idealpattern of walking is analyzed, which gets the results by experiments. There hasprogrammed and simulated for two ideal pattern of walking, the one is the relationshipbetween the height and step when go straight; the other is the limits of angle which the leghelp the upper body to rotate (part of the rotation of the waist). At last, the ideal bipedrobot is modified by the interference detection. Using the data of motion, the kinematicssimulation is completed and generates motion animation, which proves the accuracy ofkinematics and gets a good foundation for the follow-up biped robot dynamics and motioncontrol.