Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot

A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on th...
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Autor*in:	Peng Sun [verfasserIn] Yunfei Gu [verfasserIn] Haoyu Mao [verfasserIn] Zhao Chen [verfasserIn] Yanbiao Li [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2023

Schlagwörter:	biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum

Übergeordnetes Werk:	In: Biomimetics - MDPI AG, 2017, 8(2023), 2, p 258
Übergeordnetes Werk:	volume:8 ; year:2023 ; number:2, p 258

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/biomimetics8020258

Katalog-ID:	DOAJ094198608

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allfields	10.3390/biomimetics8020258 doi (DE-627)DOAJ094198608 (DE-599)DOAJ2f43cacf4d6f4955aaa726df311293ee DE-627 ger DE-627 rakwb eng Peng Sun verfasserin aut Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis. biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum Technology T Yunfei Gu verfasserin aut Haoyu Mao verfasserin aut Zhao Chen verfasserin aut Yanbiao Li verfasserin aut In Biomimetics MDPI AG, 2017 8(2023), 2, p 258 (DE-627)85960781X (DE-600)2856245-8 23137673 nnns volume:8 year:2023 number:2, p 258 https://doi.org/10.3390/biomimetics8020258 kostenfrei https://doaj.org/article/2f43cacf4d6f4955aaa726df311293ee kostenfrei https://www.mdpi.com/2313-7673/8/2/258 kostenfrei https://doaj.org/toc/2313-7673 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2023 2, p 258
spelling	10.3390/biomimetics8020258 doi (DE-627)DOAJ094198608 (DE-599)DOAJ2f43cacf4d6f4955aaa726df311293ee DE-627 ger DE-627 rakwb eng Peng Sun verfasserin aut Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis. biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum Technology T Yunfei Gu verfasserin aut Haoyu Mao verfasserin aut Zhao Chen verfasserin aut Yanbiao Li verfasserin aut In Biomimetics MDPI AG, 2017 8(2023), 2, p 258 (DE-627)85960781X (DE-600)2856245-8 23137673 nnns volume:8 year:2023 number:2, p 258 https://doi.org/10.3390/biomimetics8020258 kostenfrei https://doaj.org/article/2f43cacf4d6f4955aaa726df311293ee kostenfrei https://www.mdpi.com/2313-7673/8/2/258 kostenfrei https://doaj.org/toc/2313-7673 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2023 2, p 258
allfields_unstemmed	10.3390/biomimetics8020258 doi (DE-627)DOAJ094198608 (DE-599)DOAJ2f43cacf4d6f4955aaa726df311293ee DE-627 ger DE-627 rakwb eng Peng Sun verfasserin aut Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis. biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum Technology T Yunfei Gu verfasserin aut Haoyu Mao verfasserin aut Zhao Chen verfasserin aut Yanbiao Li verfasserin aut In Biomimetics MDPI AG, 2017 8(2023), 2, p 258 (DE-627)85960781X (DE-600)2856245-8 23137673 nnns volume:8 year:2023 number:2, p 258 https://doi.org/10.3390/biomimetics8020258 kostenfrei https://doaj.org/article/2f43cacf4d6f4955aaa726df311293ee kostenfrei https://www.mdpi.com/2313-7673/8/2/258 kostenfrei https://doaj.org/toc/2313-7673 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2023 2, p 258
allfieldsGer	10.3390/biomimetics8020258 doi (DE-627)DOAJ094198608 (DE-599)DOAJ2f43cacf4d6f4955aaa726df311293ee DE-627 ger DE-627 rakwb eng Peng Sun verfasserin aut Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis. biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum Technology T Yunfei Gu verfasserin aut Haoyu Mao verfasserin aut Zhao Chen verfasserin aut Yanbiao Li verfasserin aut In Biomimetics MDPI AG, 2017 8(2023), 2, p 258 (DE-627)85960781X (DE-600)2856245-8 23137673 nnns volume:8 year:2023 number:2, p 258 https://doi.org/10.3390/biomimetics8020258 kostenfrei https://doaj.org/article/2f43cacf4d6f4955aaa726df311293ee kostenfrei https://www.mdpi.com/2313-7673/8/2/258 kostenfrei https://doaj.org/toc/2313-7673 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2023 2, p 258
allfieldsSound	10.3390/biomimetics8020258 doi (DE-627)DOAJ094198608 (DE-599)DOAJ2f43cacf4d6f4955aaa726df311293ee DE-627 ger DE-627 rakwb eng Peng Sun verfasserin aut Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot 2023 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis. biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum Technology T Yunfei Gu verfasserin aut Haoyu Mao verfasserin aut Zhao Chen verfasserin aut Yanbiao Li verfasserin aut In Biomimetics MDPI AG, 2017 8(2023), 2, p 258 (DE-627)85960781X (DE-600)2856245-8 23137673 nnns volume:8 year:2023 number:2, p 258 https://doi.org/10.3390/biomimetics8020258 kostenfrei https://doaj.org/article/2f43cacf4d6f4955aaa726df311293ee kostenfrei https://www.mdpi.com/2313-7673/8/2/258 kostenfrei https://doaj.org/toc/2313-7673 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_602 GBV_ILN_2005 GBV_ILN_2009 GBV_ILN_2014 GBV_ILN_2055 GBV_ILN_2111 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2023 2, p 258
language	English
source	In Biomimetics 8(2023), 2, p 258 volume:8 year:2023 number:2, p 258
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topic_facet	biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum Technology T
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authorswithroles_txt_mv	Peng Sun @@aut@@ Yunfei Gu @@aut@@ Haoyu Mao @@aut@@ Zhao Chen @@aut@@ Yanbiao Li @@aut@@
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author	Peng Sun
spellingShingle	Peng Sun misc biped walking misc gait planning misc humanoid robotic legs misc hybrid mechanism misc linear inverted pendulum misc Technology misc T Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot
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topic_title	Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot biped walking gait planning humanoid robotic legs hybrid mechanism linear inverted pendulum
topic	misc biped walking misc gait planning misc humanoid robotic legs misc hybrid mechanism misc linear inverted pendulum misc Technology misc T
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title	Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot
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title_sort	research on walking gait planning and simulation of a novel hybrid biped robot
title_auth	Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot
abstract	A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.
abstractGer	A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.
abstract_unstemmed	A kinematics analysis of a new hybrid mechanical leg suitable for bipedal robots was carried out and the gait of the robot walking on flat ground was planned. Firstly, the kinematics of the hybrid mechanical leg were analyzed and the applicable relevant models were established. Secondly, based on the preliminary motion requirements, the inverted pendulum model was used to divide the robot walking into three stages for gait planning: mid-step, start and stop. In the three stages of robot walking, the forward and lateral robot centroid motion trajectories and the swinging leg joint trajectories were calculated. Finally, dynamic simulation software was used to simulate the virtual prototype of the robot, achieving its stable walking on flat ground in the virtual environment, and verifying the feasibility of the mechanism design and gait planning. This study provides a reference for the gait planning of hybrid mechanical legged bipedal robots and lays the foundation for further research on the robots involved in this thesis.
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title_short	Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot
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