《Table 1Lower limb movement range of each joint of the robot》

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《Dynamic Simulation Analysis of Humanoid Robot Walking System Based on ADAMS》

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It goes without saying that the study of human mimetics is beneficial to the structural design.The motion of the lower limb can be simplified as a rotational motion about an axis that is easier to implement and control in the mechanical structure.From top to bottom，the hip joint can be broken down into three orthogonal axes；the thigh around the X，Y，Z axes can perform a certain range of rotation.The knee joint is mainly used for large angle flexion and extension，and it can be regarded as rotational movement around the axis.The ankle joint can not only can rotate towards the top and bottom of the foot but also rotate inside and outside.To ensure that the completion of the scheduled basic functions is closer to human motion，according to the practicality and cost of design as well as a comfortable range of human lower limb joint movement，the movement range of each joint is designed as shown in Table 1.