Researching On Gait Planning And Simulation Of The Humanoid Robot

Humanoid robot has much better adaptation to environment in human living-space than wheel type, crawl type and pedrail type mobile robots, because the supporting foot is alternately discretely contact with the ground during bipedal walking and the best supporting position can be chosen. This advantage is much more obvious under unconstructed environment. The gait planning is an important topic which influences the technology development in the field of humanoid robots research to humanoid robot. It's the theoretical basis and key technology to realize stable biped walking. In this thesis, through a 3D modeling software, the structure of the biped robot was designed and the degrees of freedom were configured properly. Base upon the kinematics and dynamics characteristic of the biped robot, a new way to gait planning for biped robot was presented, which planed gait by different way in different walking phase. According to virtual prototype, a control strategy and method were given.The main content of this thesis includes:1. The freedom of humanoid robot was configed according to the requirement of robot walking stability. A 3D geometry model was built with Pro/E software. The humanoid robot structure as well as the control system was designed.2. For analysing the kinetic and dynamic characteristics of the humanoid robot, the model is simplized. The kinetics of a biped robot is expressed as matrix product using mathmatics. A computation method that could be applied to other humanoid robots in same DOF configuration was used to deduce the biped leg parameter such as the velocity and acceleration of the rigid body and the center of mass etc. The dynamics of the humanoid robot during its walking process are quantitatively described precisely.3. Based on the periodicity,ZMP theroy of biped robot and traditional gait planning methods, the gait pattern was delieved into three phase:start-walking, normal walking and stop walking. During normal walking phase, the concept of stability index and stability angle was introduced. For utiliztion of the inertia of the biped walking of the robot, taking the consideration of the character of the main mass of the upper-body, the inherence trajectory of the inverse pendulum was used to plan the walking gait. During the start-walking and stop-walking, accoding to the balance of energy, the 3rd order spline interpolation was used to generate gait planning, The complete gait planning was realized.