| Summary: | 碩士 === 國立虎尾科技大學 === 機械與機電工程研究所 === 97 === The main objective of this investigation is to perform the gait analysis and control of biped robot by using RecurDyn software and Fortran programming language. The gait analysis and control of biped robot (including squatting and standing) can be developed by the kinematic equations which describe the paths of the gait parameters. The RecurDyn software and Fortran programming language can be used to control these parameters, and perform the error analysis of the gait paths.
First of all, the moving path control parameters can be analyzed in the fixed point for the gait analysis of robot. Secondly, the moving path control parameters can be analyzed in the different situations. Thirdly, the ZMP (Zero Moment Point) theory can be used for the trajectory planning of the robot to achieve a stable gait pattern.
In this research, the computer programs can be used to calculate these paths to control and perform the gait analysis of the biped robot. Most of the positions, velocities, accelerations and forces/torques can be calculated by these programs. By using the statistic data for most adults walking examples, the dynamic analysis and simulation of biped robot can be simulated. In this investigation, the approach will be efficiently and precisely used to demonstrate the motion status and inverse kinematic analysis and control of the biped robot systems.
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