Wheeled-locomotion Mechanism And Stability Locomotion Control For A Humanoid And Gorilla Robot

In the fields of scientific research,disaster relief,military reconnaissance etc.,high requirements are placed on the energy loss during the movement of the robot,the adaptability of the working environment,and the work efficiency.The Humanoid and Gorilla Robot with wheeled-locomotion mechanism have received more and more attention due to their excellent performance in these areas.In this paper,a wheeledlocomotion mechanism for a Humanoid and Gorilla Robot is designed,the trajectory tracking control law is designed,and the ZMP-based force reflex control method using multi-joint is studied.In the simulation environment,the stable wheeled locomotion of Humanoid and Gorilla Robot is realized.In this paper,according to the technology requirements of the Humanoid and Gorilla Robot with wheeled-locomotion mechanism,the wheeled-locomotion mechanism using a dual clutch is designed;the force of the Humanoid and Gorilla Robot in the process of wheeled locomotion is analyzed,and the selection calculation of the transmission device and prime mover of the wheeled-locomotion mechanism is carried out;based on the selection results,the drive-control system of the wheeledlocomotion mechanism is designed.This paper also analyzes the locomotion modes of the wheeled-locomotion mechanism,summarizes the kinematics models under different movement modes,and researches the coordinated movement of the wheeledlocomotion mechanism and the other joints of the Humanoid and Gorilla Robot.In this paper,choose one of the locomotion modes of the wheeled-locomotion mechanism as the movement mode of the humanoid and gorilla robot in this article,design a stable locomotion control system for the Humanoid and Gorilla Robot with wheeled-locomotion mechanism;the kinematic modeling and dynamic modeling of the humanoid and gorilla robot with wheeled-locomotion mechanism are carried out,in order to obtain the analytical solution of inverse kinematics,a constraint condition based on joint inertia and gravity moment is introduced;a dynamic model which is used to design the trajectory tracking control laws is established;according to whether the upper bound of the disturbance is known,the kinematics controller and the dynamics controller are designed separately;the correctness of the corresponding control law is proved by the Lyapunov stability theory;the simulation of typical motion which is circular trajectory and S-shaped velocity curve is simulated by Simulink,and the trajectory tracking error results are obtained.Explain the method of how to use the six-dimensional force / torque sensor to measure the actual ZMP of the Humanoid and Gorilla Robot with the wheeled-locomotion mechanism;a cart-table-cart model is proposed to obtain the effect of the mobile platform's acceleration on the ZMP position;based on preview control theory and ZMP,the COM's initial trajectory was generated;a ZMP error compensation controller was designed to eliminate the influence of the mobile platform acceleration on the ZMP position,and a COM's reference trajectory was obtained;inverse kinematics was used to obtain the joints' reference trajectory.The ZMP-based force reflex control using multi-joints was studied;the solution problem of the ZMP-based force reflex control using multi-joints was transformed into a quadratic programming problem.For the quadratic programming problem,the objective function and constraints were designed,the method for determining the weighting factor of the objective function was given,and the algorithm for solving the quadratic programming problem was given.Finally,the wheeled locomotion of the Humanoid and Gorilla Robot is simulated by ADAMS and SIMULINK.The rationality of the design of the wheeled-locomotion mechanism,the effectiveness of trajectory tracking control law and the effectiveness of ZMP-based force reflex control method are verified by the simulation results.The research results in this paper show that compared with the biped walking movement,the Humanoid and Gorilla Robot taking wheeled movement has a significant improvement in energy loss and work efficiency.