Research on Dynamic Walking of Five-Link Biped Robot

摘要：

For dynamic walking of 5-link biped robot,the paper study the forward kinematics which get the pose of link by the joint angle,and the inverse kinematics which get the joint angle by the pose of link.A model was proposed based on Cartesian Coordinates system and generalized coordinates.The gait planning of the biped robot was discussed using 3-spline interpolation.The trajectory of the robotic hip and ankle was simulated by Matlab.The result shows that the algorithm can make a continuous and smooth walking trajectory of position and velocity,which satisfies the need of the continuous and stable walking of industrial robot.

关键词： biped robot kinematics gait plan

作者: Zhang Dantong

作者单位: College of Information Engineering Jilin teachers institute engineering and technology Changchun,China

会议类型: 国际会议

会议名称: 2011 3rd International Conference on Computer and Network Technology(ICCNT 2011)(2011第三届IEEE计算机与网络技术国际会议)

会议地点: 太原

会议语种:英文

页码: 508-511

在线出版日期: 2011-02-26（万方平台首次上网日期，不代表论文的发表时间）