Design Of Biped Heel-and-toe Robot And Its Gait Planning

Mechanism, control system and gait planning design of biped heel-and-toe robot were designed in the paper and they were used successfully in the 10^th China Robot Competition and the RoboCup China Open 2008.Firstly, six degrees of freedom were distributed over the robot. The mechanism design was divided into four modules: foot module, knee module, hip module and trunk module. Entity model was built based on UG. At last, the robot was manufactured and assembled.In order to evaluate different methods of generating PWM(Pulse Width Modulation) signal concretely and all-sidedly, four appraising principles were put forward. The principle of time sharing and batch processing was raised for the first time. One method, by which PWM was generated in the control of servos based on C8051F040, was designed by this principle. And then, this method was evaluated by the four appraising principles. The correctness of the evaluation was testified in practice.Then, the schematic circuit diagram and PCB of the control system were designed in the protel DXP. The software of the control system was compiled in Keil uVision2.Finally, the kinematic model of the biped heel-and-toe robot was constructed by using the Denavit—Hartenberg formula. A series of kinematics equations are deduced by means of homogeneous transformation matrix. Matlab was used to solve and simulate the curve of description the kinematic trajectory. The trajectory was adjusted with the method of "Off-line planning, On-line adjustment" in order to get the smooth and steady gait.