Gait and Experiment Research for the Human-Carrying Quadruped Walking Chair Robot with Parallel Leg Mechanism

摘要

The gait is the foundation of the walking robot. In this paper, according to the characteristics of the human-carrying quadruped walking chair robot, its walk gait is planned. Firstly, prototype of the walking chair robot is described. Secondly, kinematics of the whole mechanism is analysed. Thirdly, based on kinematics and ZMP (zero moment point) theory, crawl gait and amble gait on the horizontal ground of the human-carrying walking are studied. Finally, on basis of the walking experiment, it is verified that the planned walking gaits are feasible.