Motion Analysis and Gait Planning of a Biped Walking Chair

Walking robot has a strong ability to adapt to the environment: its low requirements on the road, not only can overcome obstacles, but also can go up and down the stairs. A novel quadruped/biped reconfigurable parallel legged walking chair robot is presented. The 6-UPS parallel mechanism is selected as the basic leg, and its kinematics is analyzed by establishing the robot's coordinate system. The gait planning of the walking chair is carried out, and the foot path of the swinging leg is calculated. The length of each branch rod is obtained by simulation, which lays the foundation for motion control of the walking chair.