Research On Biped Walking Method & Control System

Biped robot research which is a challengeable project in the area of control theories and technologies, has an important value on scientific study. It takes on much application prospect on the enterprises of military, entertainment, medical treatment and so on. The dissertation systematically studies the characteristics of a new designed biped robot motion and researches on its motion control system.Firstly, a cross gimbal structure is used in the ankle and hip jiont design which has two DOF on orthogonal orientation and DC servo motor is applied for the joint driving by a reduction consisted of ball screw and planetary gear. By simulation, the motion of this kind of drive form is proved to be realizable. Then a sagittal dynamic model of planned biped robot is established based on the actual structure parameter and a simplified dynamic equation is founded. After that, a human walking pattern is analyzed and researched in detail and the mechanical prototype is known as humanoid special for the legs, thereby a humanoid stable walking pattern during one walking cycle is planned for the biped robot based on cubic polynomial algorithm. Meanwhile the hip, knee and ankle walking trajectories of the sagittal motion are formulated respectively, and are demonstrated under Matlab. According to the planned Gait, the ZMP trajectory is calculated and the stability is proved. And then the control system is designed both in hardware and software. The experimental parameter is distilled according to the the planned walking trajectories, and a basic control arithmetic for motion control is developed based on position & velocity servo loop. Finally, the control system of gait motion experiment is established based on which the swing and the support motion tests for single leg is performed.The experiment results indicate that the humanoid walking trajectory is suitable for the designed biped robot. And the mechanical characteristic and the control performance are verified to be all right. Moreover, the feasibility of control arithmetic for motions control is confirmed.