Influence Analysis of Toe-joint on Biped Gaits

摘要

In sagittal plane, 8-link model of biped with toe-joint is established and predigested into inverted pendulum. Inverse kinematics of single leg is analyzed, and Lagrange locomotion equation is established. The barycenter point motion track in space is presented and the effect of the gait with toe-joint in single leg supporting phase is analyzed by kinematics and dynamics simulation in Matlab. Through comparing gaits with toe-joint with which without toe-joint, the result shows that biped robot with toe-joint is more advanced in following aspects: walking step, walking speed, range of joint angle and the changing of angle velocity, joint energy-output and so on. The effect of toe-joint in biped walking robot is analyzed in theory. It is the base for gait design on impersonate robot.