"基于Matlab的双足步行机器人腿部运动模型建立与仿真研究"

Biped walking robots have gained significant attention in recent years due to their high scientific value and practical applications. These robots mimic human walking movements, offering greater flexibility compared to other types of robots. However, the complexity of the research and control involved in designing biped walking robots poses significant challenges. This study focused on addressing some simple issues related to biped walking robots, such as configuring degrees of freedom and selecting drive devices based on control complexity. By studying the basic principles of robotics, a mathematical model was established and analyzed using MATLAB for kinematic design, with a focus on studying simple motion models. A 3D model of a biped walking robot leg was created using Pro/E. Finally, motion simulation was completed based on the previous analysis and motion data obtained. This research contributes to the advancement of biped walking robots and highlights the importance of kinematics modeling and simulation in their design and control. Key words: biped walking robot; kinematics; modeling and simulation.