Biped Humanoid Robot Dynamic Balance Control Based On IMU

With the development of modern science and technology, the robots have stepped into our lives gradually. Most of schoolars at home and abroad research on gait planning, but the function of external force is not considerated in most cases. This is different from real meaning human walking. In order to make the robot adapt to exteral environment, dynamic balance control of biped humanoid robot has become a vital research rigion of robotics. The dynamic balance control is researched basing on 16 DOFs module biped humanoid robot with powercub, which is produced by AMTEC Corporation from German.Firstly, the development of IMU is introduced. It is modeled and simulated in simulink of Matlab, and the model's accuracy is demonstrated according to mathematical expression and different force conditions. The reponse of control system is analyzed, and the PID controller is used to regulate the model. The simulation model is established. The module biped humanoid robot is simplified for 19 links. According to Denavit-Hartenberg rule, the module biped humanoid robot's upper and lower limbs'mathematical model is derived.At frist, the basic control methods of biped robot are summarized in dynamic balance control. The module biped humanoid robot is simplified for third-order inverted pendulum model, whose control research is based on optimal control. The IMU is used on module biped humanoid robot, the external force is classed, the control flowchart and structure are designed, and recession movement is planned. Becased the stability is the base of robot's control, according to ZMP theory, the value range is figured out. The optimal target is the displacement of COM's motion is the shortest. According to Statically Equivallent Serial Chains, the displacement and acceleration of COM is figured out, and the fifth degree polynomial curve is used to plan the each link's trajectory. The dispalcement and velocity and acceleration are simulated in Matlab. Accordingly to analysis of simulation results, the rationality of link's trajectory planning is verified.