Walking mechanism and kinematic analysis of humanoid robot

This paper presents the self-developed walking mechanism of humanoid robot. Its configuration and structure characteristics are introduced. Each leg has 6 DOF and imitating the structure of ACL, PCL (anterior and posterior cruciate ligaments) and meniscus of human´s knee joint, a energy-saving and vibration damping structure was designed for robot´s knee joint, which lowers the peak driving torque of the knee joint at the moving period, reduces the impact of the knee joint at the plantar contact phase, increases the stiffness of the knee and improves the stability of the walking. Then we present the kinematic analysis of the walking mechanism to provide the mathematic control formulas. Coordination transform and vector method are proposed to successfully derive the forward and inverse kinematics analytic equations of the humanoid robot walking mechanism. A simulation in MATLAB is established finally to verify the feasibility on both the forward and inverse kinematics.