Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS

  • Bangcheng Zhang (张邦成)Email author
  • Chen Shao (邵晨)
  • Yongsheng Li (李永生)
  • Haidong Tan (谭海东)
  • Dawei Jiang (姜大伟)


Humanoid robots are a hot topic in the field of robotics research. The walking system is the critical part of the humanoid robot, and the dynamic simulation of the walking system is of great importance. In this paper, the stability of the walking system and the rationality of its structural design are considered in the study of dynamics for a humanoid robot. The dynamic model of humanoid robot walking system is established by using the Lagrange dynamics method. Additionally, the three-dimensional model of CATIA is imported into ADAMS. The humanoid robot walking system is added with the movement of the deputy and the driving force in the ADAMS. The torque and angular velocity of the ankle joint and hip joint are analyzed in the process of knee bends. The simulation results show that the overall performance of the humanoid robot walking system is favorable and has a smooth movement, and the specified actions can be completed, which proves the rationality of the humanoid robot walking system design.

Key words

humanoid robot walking system Lagrange method dynamics ADAMS 

CLC number

TP 242 

Document code


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Copyright information

© Shanghai Jiaotong University and Springer-Verlag GmbH Germany, part of Springer Nature 2019

Authors and Affiliations

  • Bangcheng Zhang (张邦成)
    • 1
    Email author
  • Chen Shao (邵晨)
    • 1
  • Yongsheng Li (李永生)
    • 2
  • Haidong Tan (谭海东)
    • 1
  • Dawei Jiang (姜大伟)
    • 3
  1. 1.School of Mechatronic EngineeringChangchun University of TechnologyChangchunChina
  2. 2.CRCC Changchun Railway Vehicles Co., Ltd.ChangchunChina
  3. 3.School of Applied TechnologyChangchun University of TechnologyChangchunChina

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