Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot
A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on th...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-06-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/8/2/258 |
| _version_ | 1797595864111251456 |
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| author | Peng Sun Yunfei Gu Haoyu Mao Zhao Chen Yanbiao Li |
| author_facet | Peng Sun Yunfei Gu Haoyu Mao Zhao Chen Yanbiao Li |
| author_sort | Peng Sun |
| collection | DOAJ |
| description | A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis. |
| first_indexed | 2024-03-11T02:42:33Z |
| format | Article |
| id | doaj.art-2f43cacf4d6f4955aaa726df311293ee |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-11T02:42:33Z |
| publishDate | 2023-06-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-2f43cacf4d6f4955aaa726df311293ee2023-11-18T09:29:55ZengMDPI AGBiomimetics2313-76732023-06-018225810.3390/biomimetics8020258Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped RobotPeng Sun0Yunfei Gu1Haoyu Mao2Zhao Chen3Yanbiao Li4College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaCollege of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaCollege of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaCollege of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaCollege of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310023, ChinaA kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.https://www.mdpi.com/2313-7673/8/2/258biped walkinggait planninghumanoid robotic legshybrid mechanismlinear inverted pendulum |
| spellingShingle | Peng Sun Yunfei Gu Haoyu Mao Zhao Chen Yanbiao Li Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot Biomimetics biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum |
| title | Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot |
| title_full | Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot |
| title_fullStr | Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot |
| title_full_unstemmed | Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot |
| title_short | Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot |
| title_sort | research on walking gait planning and simulation of a novel hybrid biped robot |
| topic | biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum |
| url | https://www.mdpi.com/2313-7673/8/2/258 |
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