Research On Biped Robot Gait And Path Planning

Biped robot has many human being characters. Compared with other locomotion methods, the supporting foot is alternately discretely contact with the ground during bipedal walking, the best supporting position can be chosen, the locomotion has the least restriction from the environment, so the bipedal walking has the highest flexibility. Studying the biped robot motion control is becoming one of the main focuses in robotics. It has not only important academic value but also considerable significance of application.To realize biped robots stable walking and path planning it involves many aspects. In this paper, the basic and key problem is studied, such as: Established model of the robot leg connecting rod, gait planning, modeling and planning of walking path, robot controller hardware and software design, debugging and testing. Details are as follows:With the BIOLOID robot model as target, established12degrees of freedom robot legs mathematical model based on D-H method.Get the robot inverse kinematics solutions by combining analytical method and numerical algorithm. The ankle joint trajectory was planned by setting the initial parameters. This paper proposed a straight line walking gait planning methods based on polynomial interpolation of the hip joint trajectory that could change the robot's gait when walking straightly by adjusting the scale factor of single leg support phase and double leg support phase. Through the polynomial interpolation for a joint steering angle, realize a robot turning gait planning. Create virtual prototype with MATLAB and ADAMS to simulate the results of the calculations. The simulation results verify the correctness of gait planning.In a known static environment, through abstraction and expression on the environment, use the grid method for robot path planning problem for modeling. For the path planning problem, based on analysis of ant colony algorithm and the improved ant colony algorithm, propound a theory which improved ant colony algorithm is on the base of the strengthen optimum solution. By the genetic algorithm to optimize the values of the parameters, the algorithm achieved a relative balance between the convergence speed and the search of overall importance. For the problem of low speed for optimum, add probability selection function to guide function. The results of simulation verify the effectiveness of the improved ant colony algorithm based on MATLAB.The hardware and software of robot control system is designed with modular idea. Based on ATmegal28as the core control chip, the control system is divided into microcontroller module, the driver module of the servos and the sensors, the power module and so on. Through the operation of the internal data buffer of digital servo, realize the way that the serial port controls some of steering engines without delay synchronously. For the speed of the steering engine control, propose a kind of interpolation methods which is digital engine control. Fitting the curve of time-corner, receive good effects and through the experiment it is proved that this method is feasible. Using this method for a biped robot walking test, the results validate the gait planning algorithm.