仿人机器人双足行走模型研究

针对仿人机器人双足行走的稳定性问题，引入零力矩点理论，根据稳定行走必须满足地面反作用力位于稳定区域内这个条件，推导出仿人机器人在行走过程中单双腿支撑期的稳定区域面积和稳定裕量。建立2种不同形状的仿人机器人双足模型，在足底和地面间创建一系列接触力，并通过机械系统动力学自动分析软件得到行走过程中足底各个点的受力曲线并进行受力分析，得出合理的双足形状。

Research of Humanoid Robot Biped Walking Model

Aiming at the problem of walking stability in humanoid robot, this paper introduces Zero Moment Point（ZMP） theory, the reaction force of ground must be inside the support polygon to maintain dynamic balance. The area of stable region and stability margin in single support phase and double support phase are deduced. Humanoid robot biped walking model with two different shapes is established, and a series of contact is set between sole and ground. The contact forces ware got through Automatic Dynamic Analysis of Mechanical System（ADAMS） software after analyzing simulation and the forces of the sole during walking, it gets reasonable bipedal shape.