Gait Planning and Simulation of ROBONOVA-1 Robot

ROBONOVA-1 robot is a kind of new type humanoid robot which can offer educators, students and robotic hobbyists a complete robot package. In order to better study and develop the function of this robot, according to the analysis of its configuration and gait, a seven bar linkage mechanism is established. The forward walking trace of the robot is planned by using the method of geometry constraints. Cubic spline interpolation function method and MATLAB software are applied to reconstruct the planned data of hip joint and ankle joint into smooth curves. Put these smooth curves into the inverse kinematic equations of forward motion for all joints, the trajectories of motion for all joints are gained, and their motion simulation is realized in ADAMS. From the simulation results, the robot can walk continuously. The correctness of the proposed method is demonstrated through the simulation results. The results lay the foundation for real-time gait control for ROBONOVA-1 robot.