Research Of Gaits-planning And Modeling Of Biped Robot By SimMechanics

The research on biped robot developed rapidly in recent years, and biped robot has more and more human being characters. Comparing with other foot robot, the supporting area of biped robot is small, the shape of support-surface's changes greatly over time, and the relative position of center of mass characteristics is higher, so biped walking system is a higher degree of automation system , a more complicated dynamic system. Comparing with other locomotion methods, the supporting foot of biped robot during bipedal walking is discretely contact with the ground, so the best supporting position can be chosen, the locomotion has the least restriction from the environment, so the bipedal walking has the highest flexibility. Since biped robot copy the locomotion method from human being, it suits to human-friendly help people or cooperate with people in the daily life and works.Studying the bipedal dynamical walking of a biped robot is becoming one of the main focus in robotics, it has not only important academic value but also considerable significance of application. To realize stable dynamic-walking involves many aspects, this paper studied the most fundamental but very critical ones of them, such as: the mathematical model, the stability, gait planning and optimization and so on.The paper focuses on the current biped robot's gait planning, establishes biped robot model based on SimMechanics. By analyzing the walking characteristics of the model, provides a theoretical basis for developing biped robot.First, the paper studies the kinetic and kinematics characteristics of the biped robot, and it's the basis of modeling robot. Control task is given based on the stability requirements, which is a theoretical basis for gait planning of biped robot.Second, the paper analyzes the degrees of the biped robot's freedom and the mechanism, introduces the concept of gaits planning, then analyzes the arithmetic of gaits planning. Combined with biped robot research, explore the movement of biped robot and analyze some problems of the structure design, proposes appropriate design.Third, the paper establishes the biped robot's SimMechanics model, which is consists of main body, head, upper and lower extremity mode, achieves the gait simulation of biped robot. Through local and global experiments, analyzing the movement performance of the model, validates the rationality of the biped robot's model.