THEORETICAL ANALYSIS AND EMULATIONS OF 3-DIMEN-SIONAL STEPPING IN A SINGLE LEG SUPPORTING PHASE OF BIPED LOCOMOTION ROBOT

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.