Research of Humanoid Robot Biped Walking Model

Aiming at the problem of walking stability in humanoid robot,this paper introduces Zero Moment Point(ZMP) theory,the reaction force of ground must be inside the support polygon to maintain dynamic balance.The area of stable region and stability margin in single support phase and double support phase are deduced.Humanoid robot biped walking model with two different shapes is established,and a series of contact is set between sole and ground.The contact forces ware got through Automatic Dynamic Analysis of Mechanical System(ADAMS) software after analyzing simulation and the forces of the sole during walking,it gets reasonable bipedal shape.