KINEMATIC MODEL OF THE SEVEN-LINK BIPED ROBOT

This work deals with the stability analysis of two-legged (humanoid) robots during walking. First, a brief overview is provided on biped robots, and also models for the dynamic behavior are discussed. There is currently the low base of robot consisting of feet, legs, hips and upper part of robots body. This structure currently has seven degrees of freedom. First, the existing low base of the robot was simulated using Matlab / SimMechanics, where the derived by Newton-Euler model was used. Simulations of the overall structure, including the constructive changes, showed that with these measures a significant improvement of the stability can be achieved.