Biped Robot Dynamics Modeling And Control

Integrated mechanics and controlling model for a biped robot named Residing is constructed in this paper, which make the robot can walk on plane dynamically and steadily. Simulation computing result for Residing is also presented in the paper , the result verifies that the method of modeling is available. Besiding have 10 degrees of freedom, its structure can help itself realizing basic walking motions in mechanical opinion. During the course of modeling, a special Lagrangian method is adopted , this method make it convenient for controlling and programming. The principium of the method is that the dynamical matrix and correlative matrix are formed by using a iterative algorithm, the algorithm has very high efficiency during programming, especially for solving complicated dynamical equation. Based on the result, walk strategy and the mechanics condition for steady dynamic-walk for Besiding is obtained.On the controlling of Besiding, a trailing PID method is introduced. Concrete step is that dividing a step period into many consective space by time, secondly, linearizing the dynamic equation of Besiding in each space; then, PID method was use in every linearized space. This method attains the aim of controlling more easily and precisely. Due to some mechanics parameter can not achieved accurately, another controlling tache is added, which can counteract the negative effect on dynamic-walk, and enhance the robustness of system.In the last part of the paper, simulation results about the mechanics and controlling model is presented, the results include many controlling targets such as stabilization, trail error, response performance and robustness. All that show that modeling method, walk tactic and controlling system of Besiding are available, effective and banausic.