Acta Metallurgica Sinica(English letters) ›› 2014, Vol. 21 ›› Issue (1): 122-128.doi: 10.1016/S1005-8885(14)60278-8

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Dynamic modeling and analyzing of a walking robot

庄育锋,刘东强,王俊光   

  1. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • 收稿日期:2013-07-01 修回日期:2013-10-20 出版日期:2014-02-28 发布日期:2014-02-28
  • 通讯作者: 刘东强 E-mail:liudongqiang135@163.com
  • 基金资助:

    This work was supported by the Youth Scientific Research and Innovation Plan of Beijing University of Posts and Telecommunications.

Dynamic modeling and analyzing of a walking robot

  1. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
  • Received:2013-07-01 Revised:2013-10-20 Online:2014-02-28 Published:2014-02-28
  • Supported by:

    This work was supported by the Youth Scientific Research and Innovation Plan of Beijing University of Posts and Telecommunications.

摘要:

In this paper, a walking robot is established. The zero-moment point (ZMP) is used to stabilize the working robot. The kinematic model of the robot based on denavit-hartenberg (D-H) method is presented in this thesis. And then the dynamic model, based on Lagrange method, is built by simplifying the kinematic model of robot body. A kinematic simulation to the robotic system is achieved based on Adams. Driving torque of left ankle is calculated according to joint angle, angular velocity and angular acceleration. The validity of the dynamic model is testified by comparing with the result of simulation.

关键词:

walking robot, D-H method, dynamic modeling, Lagrange method, Adams simulation

Abstract:

In this paper, a walking robot is established. The zero-moment point (ZMP) is used to stabilize the working robot. The kinematic model of the robot based on denavit-hartenberg (D-H) method is presented in this thesis. And then the dynamic model, based on Lagrange method, is built by simplifying the kinematic model of robot body. A kinematic simulation to the robotic system is achieved based on Adams. Driving torque of left ankle is calculated according to joint angle, angular velocity and angular acceleration. The validity of the dynamic model is testified by comparing with the result of simulation.

Key words:

walking robot, D-H method, dynamic modeling, Lagrange method, Adams simulation