USING EULER ANGLES TO EXPRESS MECHANICAL

MODEL OF WALKING ROBOT SYSTEM

HUAI Chuangfeng  FANG Yuefa  HAN Shukui

(School of Mechanical and Electronic Control Engi-neering, Beijing Jiaotong University, Beijing 100044)

Abstract: Walking robot has complicated structure and strong ability to adapt ground condition, also it is difficult to control. To realize dynamic walking of the humanoid robot, robot dynamic models have to be established, the control algorithm for gait and the stability postures should be designed. The modeling of robot plays an important role in the robot research. The method of using Euler equation to establish the mechanical model of the walking system is discussed, some simplified conditions are proposed, and the rotation and linear motion of components and the kinematic model of the joint places are expressed with Euler equation. Based on these, the confined condition and kinematic equation of the simplified walking robot are investigated while steady walking. For further study kinematics of steady walking robots and even step-size change robots it offers another theory tool.

Key words: Euler angles Kinematic equation  Mathematic model Structure matrix

CLC No: TH112

国家自然科学基金资助项目(50375001). Received 20051027, received in revised form 20060105