Studies on mechanics problem of dynamic walking of anthropomorphic biped robots

Abstract

This paper deals with the mechanics problem of dynamic walking of anthropomorphic biped robots. Through analysing the mechanics system of this kind of robots in detail, the motion constraint equations are established, three mechanics laws describing the relationships among the external forces are obtained, and the approaches to measuring and computing these forces using the pressure sensors are proposed. The results not only reveal the mechanics characteristics of dynamic walking of anthropomorphic biped robots but also are of an important significance in realizing the on-line computation and real-time control of their dunamic walking.

Keywords

anthropomorphic biped robot / dynamic walking / mechanics system / mechanics laws / measuring and computing

References

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