Stability Criterion And Gait Planning For Humanoid Running Robot

Biped robot has much better adaptation to environment in human living-space than wheel type, crawl type and pedrail type mobile robots. This advantage is much more obvious under unconstructed environment. In this dissertation, biped running robot is researched in the aspect of the gait planning and the stability criterion. Through a 3D-modeling software, the robot running locomotion is simulated.The simple inverted pendulum model (The hopping robot) is introduced. The configuration model of humanoid running robot is outlined, it's period and movement is analyzed. In the D-H coordinate, direct kinematic model and inverse kinematic model are built based on the homogeneous coordinate conversion, and this provides the foundation for gait plan. The stability criterion is maked out in the support phase and flight phase of the running robot.Based on the stability criterion, the tracks of the foot and hip joint are planned related to parameters through 3^rd order spline interpolation, and on the condition of the angular momentum constraint ,this plan confirms that stability margin is big enough. After that, the other joint angles are also gained through inverse kinematic formulas. The plan of start and stop is discussed, and this makes a whole gait. The method proves to be reasonable and effective based on the simulation results under Matlab.There N-E method is chosed to calculate the drived forces or moments of the joints ,because that it's operation magnitude is small and it adapts to use computer to calculate.