Design of a Humanoid Bipedal Robot Based on Kinematics and Dynamics Analysis of Human Lower Limbs

摘要

This paper proposes a humanoid bipedal robot based on kinematics and dynamics analysis of human lower limbs. The robot has a high-torque hip joint which combines two-degree-of-freedom parallel mechanisms and a lightweight high-torque knee joint with variable damping. The introduction of prosthesis makes the robot much closer to the real human body. In this paper, the overall structural design and the machine construction of the bipedal robot are presented, and experimental research was implemented to validate the rationality of the structural design of the humanoid biped robot and the feasibility of the control system.