Research On Gait Planning Of ROBONOVA-1 Robot

Humanoid robot is one of the most representative intelligent robot types. Research in this field has become the hotspot of robotics technology. Biped robot has much better adaptation to environment in human living-space than wheel type, crawl type and pedrail type mobile robots.Motion planning is one of the key techniques for the research of humanoid robot, stable and natural walk is the main sign different humanoid robot from other robots, and it is the base for robots realize its essential manipulation. This paper mainly talked about the gait planning of R0B0N0VA-1 robot. It is a kind of miniaturization humanoid robot.The structure of R0B0N0VA-1 robot was introduced. Introduced the size, mass, and freedom of this robot. All software used in this paper was introduced. For example, Pro/ENGINEER software which was used to plot the model of robot; MATLAB software which was used to reconstruct the planned data into smooth curves; ADAMS software which was used to simulate.Simplified the structure of robot and established the sagittal motion model and lateral motion model by adopting the method of generalized coordinates. Analyzed the model of robot and got the equation of displacement and velocity of joints. Got the generalized coordinates of joints by solving the kinematics equations. Got the trajectories of joint angle by generalized coordinates.Educed the expressions of coordinate of ZMP (Zero Moment Point) and condition for steady walking using the ZMP as a criterion. Got the motion equations of joints in sagittal motion and lateral motion. Plan the side angle in lateral motion according to the geometric model of robot. The gait planning of sagittal motion and lateral motion has been discussed by adopting the method of Motion planning of dynamic walking based on ZMP. Got the constraints of foot during walking and taken them as key point. Used three order spline interpolation function through key point to get the smooth trajectories of hip joints and ankle joints. Finally, the trajectories of joint angle have been calculated by kinematics equation. We planned the motion of lower limbs of robot. Simulation has been done according to this method. The simulation result proves that the gait planning method we adopt is feasible and effective.