Walking analysis of a biped moving system in the lateral plane

The dynamic equilibrium method was used to generate the gait of the support foot of the biped moving system in the lateral plane, which realized the dynamic balance of the biped robot in the lateral plane by changing the maximum offset distance of the feet relative to the body fixed coordinate system. The motion performance of the biped moving system was analyzed based on two factors: The first was the different stiffness coefficient and damping coefficient of the roll degrees of freedom at the ankles of the simulation model in ADAMS, which were set to simulate the deformation of the shoes of the Physical Prototype; the second was the different gait generation methods of the support feet. Prototype experiments were used to verify the effectiveness of the analysis results.