Abstract
The leg structure with high dynamic stability can make the bionic biped robot have the inherent conditions to perform elastic and highly dynamic motion. Compared with the quadruped robot, the leg structure of the biped robot is more complex and has more degrees of freedom. This also complicates kinematic and dynamic modeling. In this paper, the kinematics model of a bionic biped robot is established. The leg configuration of the robot is a series parallel hybrid mechanism with five active joints and six passive joints. The mechanism is a spring mass model that interacts organically with the environment and mimics the characteristics of human walking well. By analyzing the topological configuration of leg mechanism, we use the screw theory to establish the forward and inverse kinematics models. Then, we build the prototype, and use a step gait to test the model and prototype. The research of this paper has obvious application significance for the design and iteration of biped robot prototype.
Highlights
Based on Spring Mass Model.A biped robot is a highly non-linear, multi-coupling mobile robot
The leg structure that has high dynamic stability has become a difficult point in the design of biped robots
In order to facilitate the further research and experimental platform of compliant actuated bipedal robot, we focus on this compliant actuated bipedal robot’s leg topology is used for kinematics analysis, prototype building and preliminary performance testing
Summary
The leg structure that has high dynamic stability has become a difficult point in the design of biped robots. For this reason, researchers have done a lot of meaningful work and developed several foot-based robots. The legs of these robots are basically fully articulated This type of robot has the advantages of simple design and easy control, but rigid mechanical connections allow the joints of the robot to absorb the impact of rigid contact with the ground while moving. This is not conducive to the flexible, highly.
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