Research On Walking Modes Shifting Intelligence Study Motion Control For A Gorilla Robot

With the development of robot technology and the improvement of theories day by day, the humanoid robot more and more becomes emphasis of the research. the more demands for the ability to adapt environment for humanoid biped walking robot has increased significantly. It is demanded that it not only be able to walk on level ground, but also can suit complex terrain such as wild field, uneven road.Compared with humanoid biped walking robot, gorilla robot has the characteristics of multiple locomotion modes and transition of walking mode, it has better environment adaptability and locomotion agility for rough road. Therefore, in the future gorilla robot with multiple locomotion modes has great application potential at the aspects of space technology, national defense, military affairs etc. So this research has important actual significance. Based on walking theories for humanoid robot, the research on walking mode shifting motion control of standing up for gorilla robot"GoRoBoT"has been carried out by the dynamics model method and the intelligence learning method upon the implementation wrong method in this paper. Based on the analysis of the walking mode shift of "GoRoBoT", The first method researches motion control of standing up by moment control. By controlling the swing of dual-arm, the mode shifting from four-legged landing to biped standing up has achieved. Using the implementation wrong method, obtained standing up the controlled variable under the different position. Through the generalization of success samples and control parameters, the sample generator and control parameter generator were gained. The second method researches motion control of standing up of unexperienced environment by studying success samples.Upon those theory studies, under the simulation environment of ADAMS software, the 3-D virtual prototype model was simulated according to actual gorilla robot"GoRoBoT". And in simulation studies, this paper realized biped steady dynamic walking mode shifting and rationality of the method for pattern generation was validated in this paper. And using ADAMS to carry on control simulation for the quadruped position which has not experienced, the simulation verified the accuracy of the sample generator and control parameter generator. And according to CMAC, the research achieves walking mode shifting motion control of gorilla robot. By comparing this two method and the results of the research, the paper analysis walking mode shifting motion control of gorilla robot.