Study on mechanics laws for anthropomorphic biped robots to walk dynamically on sloping surface

摘要

This paper mainly deals with the mechanics problem for a kind of anthropomorphic biped robots to walk dynamically on sloping surface. Through analysing the mechanics system of this kind of robots in detail, the motion constraint equations are established, three mechanics laws describing the relationships among the external forces are obtained, the method of determining these external forces and the corresponding computation formulas are given, and an approach to determining the action point of slope friction is proposed for rigid feet.