Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical
part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this
paper, the stability of the walking system and the rationality of its structural design are considered in the study of
dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the
Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The
humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS.
The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The
simulation results show that the overall performance of the humanoid robot walking system is favorable and has
a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid
robot walking system design.
ZHANG Bangcheng *(张邦成), SHAO Chen (邵晨), LI Yongsheng (李永生), TAN Haidong (谭海东), JIANG Dawei (姜大伟)
. Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS[J]. Journal of Shanghai Jiaotong University(Science), 2019
, 24(1)
: 58
-63
.
DOI: 10.1007/s12204-019-2040-3
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