Research On Gait Planning Of Biped Robot

The research of biped robot started from 1960s, and this field promoted the unite and advance of many subjects because of its figure, movement, and the worldwide application of society. The history of biped robot has only forty years, but it developed very fast. And now this field becomes to be a focus in robot.In this paper, combining with the model and characteristics of biped robot, we mainly research on stability and gait planning.Firstly, analyze movement of swing-leg and arthrosis statement through mathematic model, which is the basic of gait research; secondly, research on traditional theory of stability, and focus on ZMP formula, which is an important theory of stability control.For judging of stability, a perceptron neural network is designed according to traits of robot, and we can judge gravity position by outputs of the network, then we could guarantee walking stability of robot. In MATLAB simulation environment, we get the expected outputs through network-training. It is demonstrated that this method is correct and valid. Compared with calculation of ZMP, this project of result is more feasible.In aspect of gait planning, the constraints of a hip trajectory and an ankle trajectory are formulated, and the hip trajectory and the ankle trajectory are generated by 3rd order spline interpolation. In MATLAB environment, we get the trajectory of movement.Finally, a rational development trend is given, and we are sure that robot will contribute on humans and worldwide application because of the improve of technology.