Kinematic analysis and simulation of squatting down and lifting object for humanoid robot

Squatting down and lifting object for biped robot is one of the basic conditions of realizing the humanoid movement. This paper analyzes the movement through the linkage mechanism. The motion rule of the whole body´s 15 degrees of freedom (DOF) is the most important part. This paper calculates the necessary conditions to make the robot keep balance and not tip over in the process of squatting down. At last, it verifies the correctness of the method by the virtual simulation. This conclusion also can verify the rationality of structure designing and provide a theoretical basis for the development of the robot prototype.