Research And Control Of Humanoid Football Robot

Walking by two legs, humanoid robot has good flexibility, and has many advantages that other types of robots can not match. So, the researches in this field have become the hotspot of robotics technology. In this paper, we will design a humanoid football robot, and design its waking gait to make it walk steadily.First of all, the paper reviews and summarizes the humanoid football robot research history and development status. In this paper, I analyze and compare the humanoid robots designed by different research institution, and gave out the frame of the paper.Secondly, mechanical architecture of humanoid football robot is designed in this paper, and discusses the needed degrees the displacement of freedom, and give the configuration of drive system. Then, the electrical control system was designed. According to the design, the electrical control system works successfully, the equations of positive and inverse kinematics also be calculated.Then, the positive and inverse kinematics of the robot modeling is analyzed. By using the D-H matrix method, we can get each parameter, this method is easy to be calculated and understood.Fourthly, based on the 3D inverted pendulum model, walking gait was proposed by ZMP Stability Criterion. In the paper, we give the desirable ZMP trajectory, and the COG's trajectory equation of the humanoid football robot can be educed through the ZMP's. With the equations of inverse kinematics, the trajectory of each joint angle can be educed.At last, there always are errors between the desirable ZMP and the real ZMP, which will increase instability of humanoid football robot. In order to solve the error, the humanoid football robot controlled by the method of fuzzy control. By the simulation in MATLAB, the error was reduced, which can make the humanoid football robot walk stability.