| The invention of the robot has milestone significance in human history of science and technology. Especially biped robot technology is a hot spot in many fields in recent years, such as intelligent robot theory and technology. Compared with the traditional wheel, crawler-type and caterpillar structure of robot, biped robot has higher requirements, stronger intelligent and better adaptabilities to the environment. Researches of biped robot have quite important value and meaning for promoting the development of humanoid robot.The task of mine is to construct the overall framework of research of biped robot in order to build foundation for the follow-up work.The contents of this paper as following:Firstly, the direction and content of the research were determined after studied the history, current situation and development trend of biped robot at home and abroad.Secondly, determined there are three knuckles (hip, knee and ankle) by analyzed the present theories and combined with the actual situation; determine the configuration and driver programs of the degree of freedom after analyzed the mechanisms of the biped robot.Thirdly, kinematics model was built and the kinematics analysis was done after determined the body structure of the biped robot.Fourthly, dynamics model was built and dynamics analysis was done.Fifthly, gait planning of the biped robot was studied based on the ZMP theory.Conclusion: In this paper, firstly, studied the body structure of the biped robot, determined the distribution of freedom, and established and analyzed its kinematics and dynamics model; Secondly, determined the gait planning of the biped robot based on the ZMP theory. The study of the overall structure of the biped robot builds the foundation for follow-up researches. |
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