Gait Planning And Simulation Of Biped Robot

Robots contain advanced mechanism technology, material science, computer technology, sensors technology and cybernetics, etc. Robotics is the representation of the best achievement of mechatronics, and is one of the greatest fruits of humankind in the 20th century. Through the biped robot has only 40 years history, it became one of the most import branches of robotics for its unique fitness and anthropomorphism.The project aims to design a kind of a biped humanoid robot and carry out the research on the basic walking principle of this robot, in order to accumulate the design experience of autonomous intelligent biped robot systems later on.At first, mechanical architecture of biped robot is designed in this paper, and discusses the needed degrees and the displacement of freedom as well as the configuration of drive system.Then, the positive and inverse kinematics of the robot modeling is analyzed by using the D-H matrix. 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.The robot walking mode uses the method of "Off-line planning, On-line adjustment", in which the three-step program of off-line planning is raised. Firstly, making out the walking poses and tracks of the robot, according to the study on the humans' gait and the sine and cosine curves are used to program its center-of-gravity track and its feet-lifting track. Secondly, the kinematics model is established, and according to the constraint and the programmed tracks, the kinematics equations of each walking stages are available. Then find the solutions of each equation and get the motion curves of its joints, which are also the motion curves of the mini-servomotor. Finally, the coupling of its forward and sideward motion revises the existing motion curves, in order to ensure that the robot can walk stably enough.The robot's walking gait simulation is performed utilizing the virtual prototype technology. Firstly; a simplified model of the robot is established in Pro/e, which is imported into the simulation software Adams. And then the experiments can give the dynamic pictures and relevant experimental data, which validate the feasibility of the walking gait planning. Lastly, the motion curves are applied to control the mini-servomotors to drive the robot, in which the theoretical research above is validated further. So in the course of carrying on simulation we can carry on simulation course observing model altering and result treating. And gets the walking speed of humanoid robot at the same time...