Study On Humanoid Robot Walking In The Control Of Anti-interference Technique

Humanoid robot is one of the most representative intelligent robot types.Research in this field has become the hotspot of robotics technology.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.The theory of homogeneous coordinate conversion needed in mathematical modeling is outlined. In the direct kinematic model and inverse kinematic model are built based on the previously presented theory, and this provides the foundation for gait plan. By lagrange dynamic equations, the dynamic model of the simplified biped is given respectively in the period of single-foot support and double- foot support, and this model is easy to control.ZMP stability condition under which the biped can walk successfully in the sagittal plane is deduced based on the theory of linear inverted pendulum model.Based on ZMP stability condition, the tracks of the foot and hip joint are planned related to parameters through 3rd order spline interpolation, and this plan confirms that stability margin is big enough. After that, the other joint angles are also gained through inverse kinematic formulas.The method proves to be reasonable and effective based on the simulation results under Matlab. The method, with better adaptation to environment, provides theory proofs for biped-developing.At last, it uses classical stochastic control to study biped robot control, which including the prediction of the biped robot motion using by classical Kalman filtering.