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Biped robot using class movement , compared with other moves , has good flexibility and adaptability , and has a very important significance in academic research , and has therefore become a hot topic in robotics research . The biped robot is a nonlinear variable structure , strong coupling dynamics system , establish a precise mathematical model and stability analysis , is the basis of its conduct in-depth research . In order to achieve the biped robot in the direction of the roll, pitch and yaw movement , set the 12 degrees of freedom , and then uses the DH notation obtained positive kinematic model of the biped robot , and algebraic geometry solving method to obtain biped robot inverse kinematics model . Lagrange equations obtained the positive dynamics model of a biped robot kinematic model , another Newton - Euler equations solved by recursive biped robot inverse dynamics model . Of biped robot motion planning, drive torque through the calculation of the inverse dynamics of each joint , and then a biped robot dynamics simulation in ADAMS . Biped robot during walking , will collide with the ground , leading to the state of motion of the robot mutated . Impact constraints, thereby establishing a the confounding dynamics model of a biped robot , and the definition of the concept of the hybrid system stable periodic orbits asymptotically stable . The robot swinging leg impact with the ground moments before the state as a cross-section , the definition of hybrid systems Poincare mapping , according to the nature of the fixed point of the Poincare map , the bipedal robot cyclical convergence analysis . Finally, three-link planar biped robot movement simulation , analysis and their movements based on the Poincare mapping the stability criterion to verify the effectiveness of the method .
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