Dynamic modeling and analyzing of a walking robot

被引：0

作者：

ZHUANG Yu-feng ^{[1
]}

LIU Dong-qiang ^{[1
]}

WANG Jun-guang ^{[1
]}

机构：

[1] School of Automation,Beijing University of Posts and Telecommunications

来源：

The Journal of China Universities of Posts and Telecommunications | 2014年 / 01期

关键词：

walking robot; D-H method; dynamic modeling; Lagrange method; Adams simulation;

D O I：

暂无

中图分类号：

TP242 [机器人];

学科分类号：

1111 ;

摘要：

In this paper, a walking robot is established. The zero-moment point(ZMP) is used to stabilize the working robot. The kinematic model of the robot based on denavit-hartenberg(D-H) method is presented in this thesis. And then the dynamic model, based on Lagrange method, is built by simplifying the kinematic model of robot body. A kinematic simulation to the robotic system is achieved based on Adams. Driving torque of left ankle is calculated according to joint angle, angular velocity and angular acceleration. The validity of the dynamic model is testified by comparing with the result of simulation.

引用

页码：122 / 128

页数：7

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