The Design Of Humanoid Robot And Walking Control Algorithms

The designing of humanoid robot and its dynamic walking algorithms are the challenging research area in robotics research. Under the effort of researchers, much progress has gained; still there existed a lot of problems. The planning algorithms still take lots of time and hardly could be real-time implemented on physical robots. The stabilization of biped locomotion is still a problem for humanoid robot, especially with disturbance. The simulation platform is not well planted for robot research and no sufficient rules to follow for designing a physical humanoid robot.In this paper we tried to solve most of the problems above, to give deep insights into the research of humanoid robot, which includes:1. Design two humanoid robot prototypes Wukong and ZJUPursuer-1 according to specific calculation and simulation. Present the concept of designing humanoid robot and rules that have to follow. Solve the problems including DOF distribution, joint torque analysis, real-time motion planning, real-time sensor feedback analysis.2. Model the robot with link models. A simulation platform which could analyze the kinematics and dynamics of the humanoid robot is established. Sensor simulation and intelligent decision could also be implemented in the simulation platform. The control for simulation robot and physical robot are united.3. Linear search optimal algorithm is used in humanoid biped robot's gait planning. Designing the ankle trajectory and ZMP trajectory by setting the gait parameter. To optimize the hip trajectory, the functional extreme optimization is changed into the nonlinear optimization with nonlinear constraints and the continuous multi-dimension variable programming problem is changed into discrete two-dimension variable programming problem. The solution to the optimization is much quicker for online gait planning.4. Analyze the stabilities of biped robot using inverted pendulum model from the energy point of view. Disturbance is detected using attitude sensor and cataloged by both the magnitude of itself and the walking parameters. Different control algorithms are implemented to keep the balance of the robot. The control algorithms could not only solve the stability problem of the robot but also could explain the various human reactions to the disturbance in locomotion.All the algorithms introduced are implemented and verified on the humanoid robot prototypes. The biped locomotion is much stable even under disturbance. The small size humanoid robot Wukong which is designed for soccer playing won the champion in the humanoid league of RoboCup China Open 2007.In the end, the main content of this dissertation is summarized and the future works are presented.