Abstract
The spring inverted pendulum model was used to analyze the motion of the biped robots under different motion states and the effective model parameters were obtained. In this paper, the biped robot was simplified to an inverted pendulum model and the kinematics equations of the robot under different motion states were obtained. The kinematics equations were solved by MATLAB, and the analysis was used to get the right sports condition during motion process. The corresponding simulation of the inverted pendulum model was carried out based on MATLAB, a series of data such as the trajectory of mass point of the robot and the variation of the ground reaction force during motion process were obtained. By analyzing the results, the model parameters and conditions of the biped robots to keep stable in different motion states were obtained.
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