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| THEORETICAL ANALYSIS AND EMULATIONS OF 3-DIMEN-SIONAL STEPPING IN A SINGLE LEG SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT |
| LIU Linsheng1, HU Bingchen1, HUANG Qi1, Tooru NOGAI2, Kousoku KAMAO2 |
1. Jilin University of Technology, P. R. China;
2. Shizuoka University, Japan |
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Abstract In order to realize the three-dimentional stepping of biped locomotion robot,its ten-degree of freedon stepping process at one foot support stage were studied.A direct-kinematics and inverse-dynanics analysismethod with non-separating sagittal-plane and frontal-plane was proposed.The process emulation of thismethod was made by computer,and the result shows that the analysis method was effective.
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Received: 10 April 1992
Published: 15 November 1993
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