Study On Walking Stability Of Biped Robot In The Control Of Anti-interference Technique

Robotics is the representation of the best achievement of Mechantronics, and is one of the greatest fruits of humankind in the 20^? century. Though the biped robot has only 40 years history, it became one of the most important branches of robotics for its unique fitness and anthropomorphism. Biped robot has much better adaptation to environment in human living-space than wheel type, crawl type and pedrail type mobile robots. This advantage is much more obvious under unconstructed environment.At first, mechanical architecture of FM-1 biped robot is designed in this paper. And servo is selected as the driving equipment. Then, the mathematical modeling is done to kinematics of the robot based on generalized coordinates. This method is easy to be calculated and understood. On the base of the kinematics modeling and Lagrange dynamics equation, the mathematical modeling is set up to dynamics of the robot. By using this method, the driving moment needed by every joint is easy to be calculated, based on which dynamics analysis can be done and motor can be selected.ZMP stability condition under which the biped can walk successfully in the sagittal plane is deduced based on the theory of linear inverted pendulum model.Based on ZMP stability condition, the tracks of the foot and hip joint are planned related to parameters, and this plan confirms that stability margin is big enough. After that, the other joint angles are also gained through inverse kinematic formulas.The method proves to be reasonable and effective based on the simulation results under Matlab. The method, with better adaptation to environment, provides theory proofs for biped-developing.At last, it uses classical stochastic control to study biped robot control, which including the prediction of the biped robot motion using by classical Kalman filtering.