Development Of The Biped Humanoid Robot

With the development of science and technology, robot applications are continually expanding. With its unique features, biped humanoid robot has got extensive attention from all fields and has become a hot field in the robotics research. With its small occupied area, low environmental requirements, certain ability to go beyond barriers and small mobile "blind spots", the walking system of biped humanoid robot has broad applications. Although the two-foot walking is the most difficult walk in biosphere, its performance can not be reached by any other walking structure. Therefore, it is one of the key technologies in biped humanoid robot research and stable walking is the main symbol that distinguishes from the other kinds of robots. The topic aims to develop a biped humanoid robot and to achieve a stable walk through the robot gait planning.Firstly, serial configuration mode and minimum degree of freedom meeting the functional requirements of robot design program are identified by analysis of configuration mode and degree of freedom configuration. Combined with the human body morphology and bionics, solid modeling and virtual assembly are carried out in PRO/E. The size ratio of the robot is close to human body.Secondly, robot kinematics model and kinematic equations are established and kinematic analysis is carried out. Transformation matrix which is used to describe the robot position and orientation is figured out by forward kinematic analysis and all joint angles are figured out by the inverse kinematic analysis on the base of robot position and orientation. Jacobian matrixs of the joints provide a basis for judging robot singular position. Kinematic analysis of robotic laid the foundation for gait planning.Thirdly, the robot walking gait categories and stability conditions are analyzed and ZMP is calculated for the walking stability. The gaits of the robot are planned with ZMP gait planning method. The simulation model is built in the simulation software ADAMS. The walking gait and the gesture of feet, center of gravity and joint angle are all verified. The results show that structural design and gait planning are reasonable. The simulations of joint torque verify that the selected motor can meet the needs.Finally, physical prototype of the robot is realized and the robot control system is designed. The controller is selected and the hardware control system is designed .The sampling feedback circuit is also designed. Control system software is design in CCS and PID control method is selected.