Research On Smooth Gait Transition For Biped Robots

Biped robot is an integrated platform of many frontier technologies, such as machinery, electronics, sensor, perception, interactive, artificial intelligence. It is an important symbol of the intellectualization and automatization of a country, which has extensive application prospect in science exploration, aerospace, transportation, maintenance, rehabilitation therapy and so on. Gait planning is a foundation of stable bipedal walking and gait transition is one of the indispensable technical difficulties from various actual situations. Therefore, there is very important theoretical significance and practical value in the studying smooth gait transition for biped robot. Based on related previous literatures at home and abroad, we put forward a new gait planning method which is applicable to bipedal gait transition. The main contents of this thesis are as follows:1. From the analysis on the structure of biped robot and the simplification of its each joint, an eleven-link model of the robot is established, from which the sagittal and lateral kinematical models are established, and the solutions of the forward and inverse kinematical equations are obtained for subsequent bipedal gait planning.2. Based on the hip swinging principle, a new gait planning method is put forward, and the bipedal walking with and without the hip swinging are simulated, respectively. The results showed that, the bipedal walking with the hip swinging can effectively reduce the angle value of each joint, the energy consumption and the ground contact force, and can also improve the stability of the robot.3. Based on this gait planning method, bipedal walking is simulated with the gait transition from different step lengths, different walking cycles and different road conditions, respectively, and the joint trajectory, angle, angular velocity and angular acceleration are also obtained.4. A physical prototype platform of the biped robot is set up, from which secveral gait transition experiments are accomplished. It is shown that the experimental results are consistent with the simulation ones, which verifies the present gait transition method based on the hip swinging principle.