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步行机器人作为一种载运工具适应地况能力强,结构复杂,运动控制难。实现类人型机器人动态行走,必须对机器人进行动力学建模、步态设计和稳定姿态控制算法设计。研究了一种5连杆双足机器人的动力学建模和控制系统仿真方法。建立两足步行机器人腿的可参数化仿真模型,对5平面双足机器人的运动情况和控制输入输出进行仿真,得出试验结果。并对影响步行机器人稳定性能的参数进行分析,为后面机器人样机的研制提供理论及数据依据。
Walking robot as a carrier to adapt to the situation of strong ability, complex structure, motion control difficult. To realize humanoid robot dynamic walking, the robot must be modeled dynamically, gait design and stable attitude control algorithm design. A kinematic modeling and control system simulation method for a five-link biped robot is studied. The parametrizable simulation model of two-legged walking robot leg is established, and the simulation results of the motion and control input and output of 5-plane biped robot are obtained. The parameters that affect the stability of the walking robot are analyzed, which provides theoretical and data basis for the development of robot prototype.