Research Of Biped Robot Gait Planning And Simulation Based On ADAMS

Under the tender of modernization progress rapidly develops, robot research upsurge keeps warming, as robots’ application field continues expanding, robot industrialization development momentum is booming. As the representative of the intelligent, humanoid robot research is concerned widely, it has gradually become the most active branch. Because humanoid robot research involves the latest research achievements of mechanical engineering, electronic engineering, information engineering, computer engineering, automatic control engineering and artificial intelligence science and integrating with bionics knowledge, So it reflects the high development of the electromechanical integration.The ultimate goal of humanoid robot research is to develop the intelligent robot, which has human characteristics, can service to humans and harmonious co-existence with human. Humanoid robot walking stability problem is our key technology to study, this work aims to design a small biped robot and do the gait planning to realize the stable, quick and natural walk.First of all, considering the rationality of the mechanical structure, we analyze and improve the original biped robot. Reference human morphological characteristics to choose freedom configuration for the biped robot stable walking function requirement, and then establish and analyze the biped robot modeling, forward direction and side direction kinematics model are established with generalized coordinates method to carry kinematics analysis, and then to solve positive and inverse kinematics solution, so the complex robot structure is described with parameterization, thus all the joint pose and their relations are clear.Secondly, the stability conditions of static and dynamic walking are analyzed, and the ZMP stability criterions is introduced detailedly, and then combine with the research on human walking gait, offline three-point form dynamic planning is adopted to plan the robot posture. The cubic spline interpolation is used to plan the tracks of ankle joint and hip joint, and the remaining joints’tracks can be derived, and then each joint angle curve can be obtained, and finally through the ZMP to prove the gait stability.Finally, use3D mechanical modeling software Pro/E to establish a model and import it into the dynamics simulation software ADAMS to get virtual prototype, then through AKISPL function in ADAMS to import the planned approximate fitting curve in Matlab into virtual prototype corresponding drivers, so the robot will carry the simulation according to the planned trajectory, at last, ADAMS/PostPocessor module can prove the whole gait is stability.