Biped Walking Robot Gait Design And Research Of Its Motion Control

Biped walking robot research in the field of robot is hot, Which combines mechanical, electronic, computer, bionics, automation, artificial intelligence and multi-sensor, and other subjects in one. This subject is to design a simple structure of small biped walking robot, On this basis to study the biped walking robot walking mechanism, walking parameters and motion control and lay the foundation for the design of autonomous intelligent biped walking robot.With human characteristics of the structure of lower limb joints and simplify them, 10 degrees of freedom was equipped with for the lower extremities of biped walking robot. After the drive components performance comparison and preliminary estimates to the torque required for the robot, the servo whose torque is 6.80 kg ? cm was chosen, The robot joints and other parts were designed on Pro/E, interference checking and measurement On the virtual model was finished. The measured overall high of Robot is 241.5mm and width is 114.5mm.In the basic principles of gait design, gait design method based on the stability of the mechanical was adopted, human walking habits and characteristics were combined, postures such as walking straight, static turning ,up stairs were designed and to the joint. The size of the joint angle was determined and its cubic polynomial interpolation, At the same time swivel movement for human research was finished, and Derived robot staircase of the geometric constraint conditions.Put the 3D model under Pro / E into the ADAMS environment through interface software Mechanism / Pro, then add materials, and power constraints, the establishment of a virtual prototype model, Gait design data will be taken into the virtual prototype and make motion Simulation for Gait, then get the simulation animation of walking straight, static turning and moves upstairs, verification and effectiveness of gait design and design were validated.With the benefit of ADAMS post-processing module, the article measures the torque,walking impact and the spare parts center tracks of joints of the robot, and at the same time, the article analyzes and calculates the corresponding data to rationalize the choice of the rudder and get the single dimensional locus of the overall centre of gravity of the robot. And then,the article imports the locus of robot's centre of gravity into Matlab; with the analysis of Matlab, it then gets the parametric equation and space tracks of the overall center of gravity of the biped walking robot.Use of the existing processing tools, the author produced a principle prototype of the biped walking robot; then with the help of a server computer, the author designed the control project and microcomputer control circuit; and then by using the PWM wave generated by PCM ATMEGA8515L to accomplish the motion control tasks. The single electric power provides the power of the robot. At last, the article describes the communication protocol between client and the server.