earticle

영어

This paper had analyzed the degree of freedom robot and then simulates the robots and humans similar to the lower limbs, to establish sports model of the robot. The analysis robot has 10 degrees of freedom, in which one leg has five degrees of freedom, namely, a degree of freedom of the knee, hip ankle is assigned two degrees of freedom. Depending on the needs of the kinematic model is divided into forward motion model and lateral movement model. Link by representatives’ form various parts of the robot to simplify the model. Through the establishment of the geometry and the Cartesian coordinate system, analyze the relationship between the joint angle and joint use mathematical functions to represent the correspondence between swing foot and between each joint. By Zero Moment Point (ZMP) stability analysis, to ensure the stability of humanoid robot, obtained center of gravity and zero moment point formula, thus proving humanoid robot walking stability. Using of spline interpolation and polynomial fitting method for solving the hip, the equations of motion of the ankle joint, the knee. By setting the parameters, the use of MATLAB simulation software to obtain motion curve of each joint and humanoid robot designed to simulate obtain humanoid robot gait simulation video.