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

• Others • Previous Articles    

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.

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