ArticleBiomimetics (Basel, Switzerland)2023
Research on Walking Gait Planning and Simulation of a Novel Hybrid Biped Robot.
Article in Biomimetics (Basel, Switzerland), 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Flexible Model Predictive Control for Bounded Gait Generation in Humanoid Robots.Biomimetics (Basel, Switzerland) · 2025Article
- Special Issue: Design and Control of a Bio-Inspired Robot.Biomimetics (Basel, Switzerland) · 2024Article
- Reconstruction of a Car-Running Pedestrian Accident Based on a Humanoid Robot Method.Sensors (Basel, Switzerland) · 2023Article
- A Hierarchical Framework for Quadruped Robots Gait Planning Based on DDPG.Biomimetics (Basel, Switzerland) · 2023Article
Corrections and comments
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Authors and funding
5 authors.
Funding
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.
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Registered trials
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