Design of an Autonomous Biped Robot Based on Modularization

With Modular Robot Kit, designing a biped robot to build a multiple degrees of freedom (DOF) bionic robot model, based on this bipedal robot model. The kinematic model of the torso and legs is constructed by the D-H rule. Derive the positive solution matrix from the robot's torso to the end of the legs. At the same time, according to the robot model, the virtual 3D geometric model of the biped robot is constructed in SolidWorks. And the correctness of the kinematics model is verified by the positive solution matrix of the initial pose and ADAMS simulation. The kinematic model of the biped robot can provide a reference for kinematic modeling for other robots of the same type.