| 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.Humanoid robot is the base of humanoid robot.It has many joints and complicated structure.So it is necessary to build a virtual prototype of humanoid robot before making the physical sample.This paper gets the humanoid robot as an investigative target,and the main work in this paper is list as following:Firstly,this paper reviewed and summarized the humanoid robot research history and development status.we analyzed and compared the humanoid robot designed by different research institution,and gave out the frame of the paper.Secondly,we expressed the design of the humanoid robot according the human body proportion, determined to the allocation of freedom degree under the minimum conditions of the robot walking. we selected the micro-servo motor as the drive components and magnesium aluminum alloy materials for the robot, used single-chip C8051F015 as the robot controller,desigened one general timers to control 8 gears. On the basis of these discusses at the above, the small humanoid robot was designed.Thirdly, we use the ZMP(zero-moment point)as a criterion to plan the dynamic walking gait of the humanoid robot.First,the stabilization of humanoid robot has been discussed when walking,and then we educed the expressions of coordinate of ZMP.Second,we analyzed the restrictions which are used to restrict the walking motion of humanoid robot.Last,using three-order spline interpolation function as a tool,we adopted three-point method to make some parameters of dynamic gait which have great influence on biped walking asvariables,and got varied and adaptive gait.Fourthly,we built the virtual prototype of humanoid robot through dynamic simulation software ADAMS and three-dimensional mechanical modeling software Pro / E.Then we imported Matlab curve to ADAMS using the approximate curve fitting function,AKISPL. Through this,we setted up the spline curves tracking robot angular displacement and realized coordinated simulation.Finally,we analyzed the experiment results about dynamic images of walking robot and analysis of experimental data in the paper through ADAMS/ PostPocessor, verified the feasibility of gait planning method. At the premise of a good gait for the robot virtual prototyping, we converted the curve of joint exercise into PWM signal which can drive micro- servo motor to control the physical prototype walking. In the experiments,the robot walked smoothly and harmoniously and further verify the correctness and effectiveness of our theoretical studies . |
