Dynamic modeling and analyzing of a walking robot

In this paper, a walking robot is established. The zero-moment point (ZMP) is used to stabilize the working robot. The kinematic model of the robot based on denavit-hartenberg (D-H) method is presented in this thesis. And then the dynamic model, based on Lagrange method, is built by simplifying the kinematic model of robot body. A kinematic simulation to the robotic system is achieved based on Adams. Driving torque of left ankle is calculated according to joint angle, angular velocity and angular acceleration. The validity of the dynamic model is testified by comparing with the result of simulation.