弹吉他机器人步行动力学建模与分析

In this paper,a kind of humanoid robot,Guitar Robot, is introduced. Gait planning based on ZMP is one of key technologies to humanoid walking, and the base of control algorithm is the dynamic model. The kinematic model of the robot based on D-H method is presented in this thesis, and then builds the dynamic model based on Lagrange formulation by simplifying the kinematic model of robot body. A kinematic simulation to the robotic system is made based on Adams. Joint driving torque of left ankle is determined according to joint angle, angular velocity and angular acceleration. The calculating value testified the precision of the dynamic model by comparing with the result of simulation.