Research on simulation based on HIT-IV biped walking robot

摘要

In the research of humanoid walking robot, the aspects of systematic modelling, kinematics and dynamics simulation are utmost important. To make the simulation to be more suitable to the actual case, we apply ADAMS as the main simulating software. This paper focuses on the kinematics and dynamics problems of HIT-IV biped walking robot, using PRO/ENGINEER to create the mechanical simulating model and the ADAMS simulating model which is simplified to the mechanical dynamics model of the two legs and carrying on its kinematics and dynamics simulation with ADAMS and MATLAB.