Modeling of biped robot

摘要

It seems more difficult to analyze the dynamic character of walking robot because of the complexity of mathematical description. So most biped robots are based on the model of control, and this method needs to model the robot itself and the surrounding environment. The real-time of the controller's computing is difficult to be guaranteed under complex model, so it's more difficult to be controlled and this limits the robot's performance. In this paper, I use the SimMechanics of MATLAB toolbox to build the computer model of the biped robot and conduct the robot overall simulation of the robot movement. The rationality of the model is proved through the simulation, at the same time we obtain the robot's movement simulation figures, and it provides a basis for further analysis of the robot system performance.