Research Of Gait Planning For Biped Robot

Biped robot has great application prospect because of its flexible walking ability and humanoid action, the stability of its gait has become a hot issue. Gait planning is the basics for the robot to walk stably and the key part to implement humanoid motion. In this dissertation, with RoboCup3D simulation platform, the research on walking motion planning of biped robot has been done based on the collection, collation and analysis of relevant literatures. The primary contents are as follows:1. Using the cubic spline interpolation algorithm to plan the gait. In the sagittal and lateral plane, according to the main joint postures of critical moments, the walking patterns of ankle and hip joint have been planned in the walking cycle based on the cubic spline interpolation algorithm. And the planning gaits must meet all the conditions such as walking environment, geometric constrains and robot's structure. Finally, the trajectories of knee, foot and other parts of the biped robot are obtained by calculating with the geometric relationship between the two planes.2. Using the particle swarm optimization algorithm to optimize parameters of gait and generate a smooth gait with large stability margin. Firstly, the dissertation analyzes the effection of gait parameters on gait stability. Secondly, this assement function of stability margin is constrcuted according to the characteristics of walking biped robot in single-support and double-support phase, and the target evaluation function used for evaluating the gait stability is obtained in the process of synthesizing respectively and completely on walking features. Finally, optimizing the gait parameters with particle swarm optimization algorithm and obtaining perfect gait with large stability margin which achieve the purpose of gait optimization.3. Do experiments in the MATLAB environment and RoboCup3D simulation platform. Planning the desired walking motion trajectories of biped robot and the ZMP trajectory with large stability margin in the MATLAB, which can meet the principle of stability of biped robot. Then, the planned gait has been used on the biped robot Nao on the simulation platform in RoboCup3D. With statistical simulation data in the Nao robot walking process, it can verify the effectiveness of cubic spline interpolation algorithm and the advantages of PSO algorithm in planning biped gait.At the end of this dissertation, the main research is summarized. It makes out the main research results, and also the problems which need to further research.