Gait Planning and Motion Simulation of a Biped Walking Robot
نویسنده
چکیده
A three-step planning method is proposed, aiming at the redundancy of DOFs and the complexity of a biped robot’s gait planning. The method presents a quick procedure on the planning of robot’s walking gait, and it is used in the walking gait planning of a biped robot, the HIT-Robocean. A robot virtual prototype model firstly is set up with the aid of the softwares, namely, Solidworks, Matlab, and Adams, as a combined simulation, a 3-dimensional animation of its walking gait can be obtained. This virtual prototype model will help to analyse the kinematics and dynamic modes of robot walking gait. Lastly, the walking gait plan is validated in the HIT-Robocean. Keywords—biped robot; gait planning; virtual prototype; motion simulation.
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