Gait planning and simulation of parallel walking robot

摘要

In this paper, parallel mechanism is used as a walking leg of walking robot, simulation models are built based on virtual prototyping technology, gait planning and simulation of walking is given. By simulation examples of biped, quadruped walking robot, it proves that using parallel mechanism as a walking leg to achieve the walking motion of walking robot is reasonable, provides a theoretical basis for research and development of new walking robot and its control.