The Design And Research Of Biped Robot

Integrated mechanics model for a biped robot is constructed in this paper, which make the robot can walk on plane dynamically and steadily. Simulation computing result for the biped is also presented in the paper,the result verifies that the method of modeling is available. First the object of the biped robot is orientated, the needed joint, DOF(degree of freedom) are ensured, and the structure is analyzed. During the course of modeling, a special Newton-Euler method is adopted,this method make it convenient for controlling and programming. The principium of the method is that the dynamical matrix and correlative matrix are formed by using a iterative algorithm, the algorithm has very high efficiency during programming, especially for solving complicated dynamical equation. Based on the result the tracks of the foot and hip joint are planned related to parameters through stability margin through inverse 3'd order splint interpolation, and this plan confirms that big enough. After that, the other joint angles are also gained kinematics formulas. Then ZMP is objected and deduced. To realities the ZMP gait of concatenation stabilization is discussed.On the controlling of biped, a trailing PID method is introduced. Concrete step is that dividing a step period into many consecutive space by time, secondly, lining the dynamic equation of robot in each space; then, PID method was use in every lining space. This method attains the aim of controlling more easily and precisely. Due to some mechanics parameter can not achieved accurately, the variety structure method was adopted, which can counteract the negative effect on dynamic-walk, and enhance the robustness of system.In the last part of the paper, simulation results about the mechanics and controlling model is presented, the results include many controlling targets such as stabilization, trail error, response performance and robustness. At last, this method of controlling is used in hip moving during singular. All that show that modeling method, walk tactic and controlling system of Residing are available, effective.