摘要：Biped robots’ locomotion is realized by driving the joint motion via a drive chain. Therefore, the stiffness of the drive chain is an important factor that affects the drive performance and can influence the locomotion behavior of the biped robot. This work focused on the influence of the stiffness of the leg’s drive chain using a mass-spring model based on the biped robot AIRO built in Zhejiang Lab. Methods for determination of the parameters in the proposed model were presented, including the use of ANSYS Workbench to determine the stiffness parameters and the determination of the inertia parameters by dynamic modelling of the biped robot. Simulation results show that special attention should be paid to the stiffness of the drive train of the leg when designing a biped robot to ensure the walking capability of the robot. Using the model proposed in this work, relations between the executed accuracy of the joint trajectories and the stiffness can be analyzed; after that, the stiffness parameters can be optimized. In addition, simulation results also showed that attention should be paid to manufacturing tolerances to ensure the symmetry of the legs of the bipedal robot in order to reduce the vibration of the robot body. Experiments were conducted on AIRO for validating the proposed model and the simulation analysis.
