| Currently,with the development of the global artificial intelligence trend and t he transformation and upgrade of the equipment manufacturing industry,bipedal rob ots are one of the hot areas of current research.It represents the industry and eve n the most advanced technology of a country.It integrates machinery,electronics an d computers.Many leading discipline theories such as control and biology.Unlike tr aditional wheeled robots and tracked robots which have relatively stable motion s upport,bipedal robots do not have relatively stable support points when they are i n motion.Therefore,the stability of walking has always been a difficult issue for b iped robots,especially for running and In the complicated sports environment such as going up and down the stairs,the stability of the biped robot movement is par ticularly important.Therefore,gait planning is very important for biped robot researc h.Gait planning is also one of the hot research directions in biped robot research.This article focuses on the following aspects of biped robot gait planning:(1)Based on the theory of human biology,the mechanical structure of the bip ed robot body is designed,which mainly includes the three-dimensional design of t he hip joint,knee joint,ankle joint and foot plate.And consider that the designed ro bot can reproduce all human actions as much as possible,and define the motion r ange of 10 joint angles of the robot according to the range of motion of each joi nt of the human lower limb itself.(2)The mathematical knowledge required for the establishment of the coordin ate system of the biped robot is given,and the positive kinematics and inverse kin ematics of the robot are modeled by the homogeneous coordinate transformation,w hich lays a theoretical foundation for the subsequent gait planning.The conditions for the stable walking of the biped robot and the zero-moment point were studied to prepare for the subsequent gait planning and optimization.(3)According to the walking characteristics of the biped robot,the robot is si mplified into an inverted pendulum model.Based on the two-dimensional inverted pendulum model,a three-step planning method of cycle,start and stop is proposed,a nd the speed and displacement constraints are used to achieve the three.In the smooth transition of the walking phase,the trajectory of the mass center and the swi ng leg ankle joint is obtained by using the inverted pendulum simplification mode l and the fifth-order spline polynomial interpolation method.Then,the bipedal robot s obtained by the geometric method according to the leg joint rotation simplifie d model.Joints angular motion trajectory.(4)Combined with the idea of non-temporal gait planning,the time variables i n gait planning are replaced by non-time variables.The gait planning is specificall y divided into the solution of each joint's spatial trajectory and the solution of th e function expression of the non-time-reference variable concerning time.Taking th e bipedal robot's walking stability as the optimization goal and the walking speed s the constraint condition,the optimal walking parameters satisfying the most sta ble walking of the robot are obtained by using the genetic algorithm.For the gait planning problem that requires the robot to implement obstacle avoidance and up and down stairs,which has constraints on the spatial motion trajectory of the robot,this method has a good applicability.Based on the structure,kinematics,gait planning and optimization of bipedal ro bots,the subject has obtained kinematics modeling,mechanical structure,gait plannin g and gait optimization methods for bipedal robots.The development of bipedal ro bots in the future has shortened the R&D cycle,reduced R&D costs,and improved R&D feasibility,which has promoted the development of bipedal robots. |
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