Design of small biped robot and its gait planning

摘要

Aiming at the present high cost humanoid robot,a low cost small biped robot research platform is designed in this paper.According to the humanoid walking and the physiological structure of human body,combing the expert control and illegible control,a simple biped robot model is presented.And the assignation of the freedom of motion and the scale of every ankle of the robot are confirmed according to the principle of bionics.Then the universal motion editor emulates the gait planning of the robot,and makes an experiment on the flat ground.The test results prove that the arithmetic of using humanoid walking model is feasible.It suppies a good experiment platform for robot teaching and scientific research.