| Humanoid robot is a hot research field, which is a combination of computer science, electronics, communications, control science, sensors, and other technologies. It represents the highest achievement in mechanical and electrical integration. Biped robot is the base of humanoid robot. It has many joints and complicated structure. So it is necessary to build a virtual prototype of biped robot before making the physical sample. This paper gets the biped robot as an investigative target, and the main work in this paper is list as following: Firstly,this paper reviews and summarizes the biped robot research history and development status. I analyze and compare the biped robot designed by different research institution, and gave out the frame of the paper.Secondly,I Expressed the design of the biped robot according the human body proportion, mainly including the design of hip joint, knee joint, ankle joint and foot. In order to make the robot to simulate human's action; I defined the robot's joint range according to a person's joints'range.Thirdly, because most mass of humanoid robot concentrate on the upper body, the robot could be taken as an inverted pendulum. According to the character of robot, I made the gait planning using inverted pendulum module. I evaluated the stability of the gait through ZMP principle.Fourthly, I built the virtual prototype of biped robot through dynamic simulation software ADAMS and build the control system with Simulink toolbox in software Matlab. Through interface module ADAMS/Controls, we realized coordinated simulation. Through this, I evaluated the validity of gait planning and control algorithm and got the joint torque, which offers important foundation for the choice of motors, reducers and so on.Finally, I designed the experimental platform for the biped robot and we did many experiments on it such as single joint experiment,mulriple joints experiment, walking on the ground and other kinds of motion experiment. In the experiments,the robot walked smoothly and harmoniously. I analyzed the experiment results in the paper and gave some advice on improving the robot control system. |
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