Research On Gait Control Of Biped Robot

Biped robot using alternating feet to support the movement , has good flexibility, with many advantages that other types of robots can not match. Biped robot is one of the most representative intelligent robot types. Research in this field has become the hotspot of robotics technology. Compared to the wheeled and crawler-type robots the structure of biped robot is more complex , and have higher requirements on stability control.This article has been reference to the parameters of the experimental prototype, created a biped robot virtual prototype in the ADAMS software. In order to investigate the characteristics of biped robot on the process of biped walking, using the geometric constraints method, we planed the gait based on the forward and inverse kinematics model of biped robot through trajectory planning of key point and calculate the trajectories of the every joints, and finally realized the open-loop walking of virtual prototype. In this paper, we selected the centre of two hips of biped robot and the ankles as the key points, using cycloid splicing method to fit the swinging leg ankle trajectory in upstairs walking. Simulation in ADAMS realized upstairs walking and obtained the parameters in the process of biped walking.How to maintain the stability of biped walking is a major problem, online optimization of gait parameters is the key to achieve a smooth biped walking. In view of high-level and strong coupling dynamic characteristics of biped robot, this paper studied relationship between the ZMP (Zero Moment Point) location and angle of the ankle in the process of human walking, and designed a stable fuzzy controller. Through the adjustment of the angle of ankle joint makes ZMP position away from the edge of the support region, so as to improve the walking stability. Finally, the ADAMS-MATLAB joint simulation verified the validity of the fuzzy controller.