Inverse kinematics for a biped robot with parallel mechanism joint

The features of the human being’s leg joints were studied in this paper. A new biped robot with parallel mechanism 3-RRR and Ur joint was put forward. The inverse kinematics of 3-RRR and Ur were analyzed here. Then the inverse of the biped robot was analyzed as a whole through an analytical process. The computation formula of inverse kinematics was deduced, a example was conducted, which verified the process of the analysis. The research in our paper is important for gait planning, dynamics and control.