二足步行机器人三维动步行的双脚支撑期的理论解析及仿真

DYNAMIC ANALYSIS AND SIMULATIONS OF 3-DIMEN-SIONAL IN DOUBLE LEGS SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT

本文以１０自由度二足步行机器人三维动步行的实现为目的，根据动力矩和静力矩的概念，运用Ｓ和Ｆ非分离的三维力学分析方法，对于双脚支持期的二足步行运动，进行了理论解析和步行仿真，证明了该方法的有效性。

In order to realize the three-dimentional stepping of a biped locomotion robot which has ten de-grees of freedom,so that on the concept of dynamic-moment and static-moment the paper analyses and simu-lates biped locomotion in a double legs supporting phase with the three-dimensional mechanical method ofnon-separated S and F. The result shows the analysic method was effective.