DYNAMIC ANALYSIS AND SIMULATIONS OF 3-DIMEN-SIONAL IN DOUBLE LEGS SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT

In order to realize the three-dimentional stepping of a biped locomotion robot which has ten de-grees of freedom,so that on the concept of dynamic-moment and static-moment the paper analyses and simu-lates biped locomotion in a double legs supporting phase with the three-dimensional mechanical method ofnon-separated S and F. The result shows the analysic method was effective.