DYNAMIC ANALYSIS WITH CHANGING TOPOLOGY OF A HUMANOID RUNNING ROBOT
仿人跑步机器人变拓扑结构动力学分析

An analysis of dynamics with changing topology for the humanoid running robot is carried out. First, a coordinate system is chosen. Then the constraint equation and the Jaccobi matrix are derived and the dynamics equations of the robot in stance phase and in flight phase are obtained. Next, the identification equation in different phases is derived as the condition of the robot from one phase to another phase. In addition, the impact between a foot of the robot and the ground is analyzed when the robot contacts the ground from the air. Finally, a virtual model of the robot is built by the software ADAMS and the validity of the method is verified by the simulation for the virtual model of the robot.