Research On Gait Planning And Its Application Of Biped Robot

Biped robot has good maneuverability and adaptability to environment.However,the walking system of biped robot is an inherent unstable system.The dynamic characteristic of the walking system is very complex,contains many variables,and has the characteristics of strong coupling,nonlinear and variable structure.So it has been one of the hot and difficult problems in the field of robot research.In addition,the research of biped robot involves many fields,such as mechanical mechanics,automatic chemistry,computer science,electronic information science,artificial intelligence,material science and so on.Therefore,the overall research level of biped robot not only reflects the state of the development of a country's automation and intelligence,but also represents the comprehensive scientific and technological strength of a country.Therefore,the research of gait planning and application of biped robot has important practical significance.The kinematics research of biped robot,that is,the connection between each joint angle variable and its motion link,mainly includes two parts: forward kinematics and inverse kinematics.In this paper,the kinematic basis of biped robot is introduced.On this basis,the solving process of each joint is derived through the inverse kinematics example of the robot,and the common judgment basis of the walking stability of biped robot is introduced,that is,the zero moment point(Zero Moment Point,ZMP).Whether it's a single foot support stage or a two legged support stage,only when the ZMP falls on the stable area of the supporting foot,the biped robot will not turn over.The gait planning of biped robot is to get the regularity of every joint angle trajectory with time.In this paper,a three-dimensional linear inverted pendulum is used to plan the motion trajectory of the centroid of the two dimensions of the front and the lateral,and then the angles of each joint are obtained by using the center of mass and the constraint conditions of the joint motion.Then the gait planning of the biped robot is realized.By introducing related data,we get the forward gait and the lateral gait joint trajectory in MATLAB simulation environment.The study on the gait optimization of biped robot is to ensure that the stability ofbiped robot is as large as possible in the course of walking,and the stability is as strong as possible so as to achieve stable walking.In this paper,the X direction of the hip joint is used as a function variable to express the other joint trajectories,and the PSO algorithm is used to optimize the related parameters according to the stability constraints of the ZMP and the speed constraints in the walking process.According to the comparison of ZMP data before and after optimization,it is found that the stability margin is improved and the walking stability is enhanced,which fully proves the validity of the optimization method.The application research of biped robot is the practice process of specific biped robot from hardware structure to control algorithm.On the one hand,this paper uses the Alpha1 s biped robot in the laboratory to debug the external controller.In the process of debugging,it is found that the torque of the single foot steering machine is easy to appear when the torque is not enough to cause the plugging.It can be concluded that the torque of the motor position should be considered when the large bipedal robot is designed.The torque is not enough,resulting in the burning of motor block.On the other hand,according to the three dimensional linear inverted pendulum gait planning and the PSO optimization algorithm introduced in the previous article and the related parameters of the DARwin-OP2,the stable walking of the DARwin-OP2 robot is realized,which fully proves the feasibility of the three-dimensional linear inverted pendulum gait planning.