Modeling and Control System Simulation for 7-Link Biped Robot

Abstract:

Walking robot has complicate structure and strong ability to adapt ground conditions, and it is difficult to control. To realize dynamic walking of the humanoid robot, we have to establish robot dynamic models, design the control algorithm for gait and the stability postures. In this paper, study dynamic model and control system of a 7-links biped robot, build parameterized simulation model of biped walking robot, proceed gait planning and simulation experiments in the simulation surrounding, and get some experiment results. Compare the experiment data with the theoretic stable region and confirm that the biped walking robot as leg mechanism has good stability of static walking, and provide theoretic and data information for further work.

• Periodical: Applied Mechanics and Materials (Volume 431)
• Pages: 262-268
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.431.262
• Online since: October 2013
• Authors: Chuang Feng Huai*, Xue Yan Jia
• Keywords: Biped Robot, Dynamic Model, Gait Design, LQR, Simulation

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