Humanoid Robot 3- D Motion Simulation for Hardware Realization

In this paper, three dimensions kinematics and kinetics simulation are discussed for hardware realization of a physical biped walking-chair robot. The direct and inverse close-form kinematics solution of the biped walking-chair robot is deduced. Several gaits are realized with the kinematics solution, including walking straight on level floor, going up stair, squatting down and standing up. Zero Moment Point （ZMP） equation is analyzed considering the movement of the crew. The simulated biped walking-chair robot is used for mechanical design, gaits development and validation before they are tested on real robot.