Research Of Biped Robot Gait Plan

Robotics is the representation of the best achievement of Mechantronics, and is one of the greatest fruits of humankind in the 20^th century. Though the biped robot has only 40 years history, it became one of the most important branches of robotics for its unique fitness and anthropomorphism. 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.Gait planning is one of the key techniques for the research of biped robot,stable and natural walk is the main sign different bipe robot from other robots,and it is the base for robots to realize its essential manipulation.Due to its high order,nonlinear and strong coupling,valid mathematical model's construction is very difficult.In the paper we take the research fruit of home and abroad as reference,first we establish the simple decouple dynamic model by Lagrange dynamics equation.,after this the stable walking condition has being formulated.Then we laid emphasis on algorithm design and simulation for dynamic walking gait planning.The dynamic motion planning method based on ZMP(Zero Moment Point) has been discussed in detail. According to the way,we first got the constraints of foot during walking and taken them as key frames,then using three order spline interpolation function through key frame to get the trajectory of foot. Finally,the joint angles have been calculated by kinematics.Simulate has been done according as the algorithm. The simulation result testified the feasibility and validation for the method. Considering the harmony of upper limbs and lower limbs,we simply planning the motion of upper limbs.