Design And Gait Planning Of Miniaturization Biped Humanoid Robot

Humanoid robot is an integration field, developed in recent years, which includes the latest research results on mechanical engineering, electrical engineering, computer engineering, communication engineering, automatic control, artificial intelligence, and bionics etc. It represents the greatest achievement of mechatronics engineering, which, at present, is one of the most prosperous fields.The project aims to design a kind of a miniaturization biped humanoid robot and carry out the research on the basic walking principle of this robot, in order to accumulate the design experience of autonomous intelligent biped robot systems later on.This thesis mimics an object on a human body structure which has been abstracted and simplified. Mini-server motors are applied as the actuators in the system, which uses the central control mode. The structure of a biped humanoid robot is designed based on the analysis of the configuration of degree of freedoms and the utilization of sensors.The robot walking mode uses the method of"Off-line planning, On-line adjustment", in which the three-step program of off-line planning is raised. Firstly, making out the walking poses and tracks of the robot, according to the study on the humans'gait and the sine and cosine curves are used to program its center-of-gravity track and its feet-lifting track. Secondly, the kinematics model is established, and according to the constraint and the programmed tracks, the kinematics equations of each walking stages are available. Then find the solutions of each equation and get the motion curves of its joints, which are also the motion curves of the mini-servomotor. Finally, the coupling of its forward and sideward motion revises the existing motion curves, in order to ensure that the robot can walk stably enough.The robot's walking gait simulation is performed utilizing the virtual prototype technology. Firstly, a simplified model of the robot is established in SolidWorks, which is imported into the simulation software Adams. And then the motion curves got from Matlab are applied on joints control. The joint simulation...