Leg Configuration Analysis and Prototype Design of Biped Robot Based on Spring Mass Model

The leg structure with high dynamic stability can make the bionic biped robot have inherent conditions to perform elastic and highly motion. Compared quadruped robot, of is more complex has degrees freedom. This also complicates kinematic modeling. In this paper, kinematics model a established. configuration series parallel hybrid mechanism five active joints six passive joints. spring mass that interacts organically environment mimics characteristics human walking well. By analyzing topological mechanism, we use screw theory establish forward inverse models. Then, build prototype, step gait test prototype. research paper obvious application significance for design iteration