Design, simulation and walking experiments for a humanoid and gorilla robot with multiple locomotion modes

Aim at studying the whole humanoid and gorilla robot, a small integrated combinational gorilla robot with multiple locomotion modes and a humanoid head with facial expressions is presented in the paper. In order to meet the requirement on quadruped walking, a hand with multiple fingers that can also be used as the front foot is designed. A method of generating steady dynamic biped walking patterns based on variable ZMP is proposed. The motion simulation on the biped walking and quadruped walking of the robot by shifting the robot hands as feet is finished by means of a software for dynamics analysis, so that the basic walking ability of the robot can be ensured. On the basis of theoretical research and simulation, the experiments for biped walking and quadruped walking of the gorilla robot are finished successfully.