Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot

Gait Analysis and Dynamic Research on Biped Walking Robot

Author LiuJian
Tutor ZhengJianRong
School East China University of Science and Technology
Course Mechanical Manufacturing and Automation
Keywords biped walking robot gait analysis virtual prototype inverse dynamics biomechanics
Type Master's thesis
Year 2012
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As the main movement pattern of modem robots, artificial limb and rehabilitation robots, Biped walking style has an important influence on industrial production, scientific research, rehabilitation of medical and other fields. The gait of biped walking robot is the main research object. Based on the virtual prototype model and doing the depth analysis on the kinematics and dynamics characters of biped walking, thus it accomplished the gait analysis of human body.Referenced Chinese basic parameters of height and weight, created the geometric human body model with the application of biomechanics software LifeMOD. According to the actual movement and biomechanical characteristics of human joints, inflict three revolute joints and bushing on human joints creatively, thus the whole constraint human body model is established. Doing the inverse dynamic simulation in ADAMS, then the force and torque of joints can be export during it.By comparing with the real human gait biomechanical data, it can be seen that the feasibility and accuracy of the research method can be approved. It provides a new approach and idea for the research and development of modem robots, artificial limb and rehabilitation robots.

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