两足步行机器人并联腿机构的步态规划及仿真

The Gait Planning and Simulation of Biped Walking Robot Parallel Leg Mechanism

应用虚拟样机技术,建立了两足步行机器人并联腿机构的仿真模型,并在仿真环境下对步行机器人的行走姿态进行了规划和仿真试验,为确定步行机器人腿机构的结构参数和参数优化提供了实验平台,为研究和开发新型两足步行机器人及其控制奠定了理论基础。

We built parallel leg mechanism simulation model of biped walking robot by virtual prototyping design method. Based on simulating environment, we make a planning of walking posture and simulation experiment on the walking robot, which provides experimental plat for the confirmation of walking robot leg mechanism structure parameters and parameters optimization, as well as establishes theory basis for researching and developing new-style biped walking robot and the control of robot.