Modeling and Simulation of Biped Robot Based on ADAMS

In order to improve the efficiency of design of biped robot,the robot can be designed and simulated by virtual prototyping technology.Using the actual physical prototype as the model,a 7-link biped robot was established,and its kinematic model was solved using analytical method.Then a parameterized virtual prototype was built in ADAMS,and an integrated walking gait on a flat for the biped robot was planned in Matlab.Finally a walking simulation has been realized on the virtual prototype of biped robot.The result of the simulation was basically the same as planned gait,which verified the effectiveness of virtual prototype.