Design And Implementation Of LOCH Humanoid Robot System

Humanoid robot is an exciting field of robotics. It is essential to build a universal, complete and low cost platform to facilitate related research and even the development of whole industry.This dissertation focuses on the design and implementation of a humanoid prototype, LOCH. First, a brief introduction about the overall structure is given. Then, for efficient and compatible experiment, a LOCH-oriented simulator is designed and built based on visual dynamics simulation technique. Moreover, according to model-based concept for biped walking, unified trajectory planning algorithm is presented and implemented, which supports various gaits and walking modes for behavior control. Finally, utilizing advanced application framework for robotics software, a unit for remote control is developed and componentized to provide friendly, powerful and interactive interface for users.Supported by above features and other parts of LOCH prototype, a series of experiment, both virtual and real, are carried out to validate the universality, integrity and economy of LOCH robot system. The research and design have laid solid foundation for further studies on humanoids and other relevant studies.