Design Of Humanoid Robot's Mechanism And Control System And Research Of Its Gait Planning

In this paper, humanoid robot's mechanism and control system was designed and gait planning was studied.The humanoid robot mechanical structure has been designed. First we configured the robot's degree of freedom. Then the humanoid robot parts were designed and assembled by three-dimensional mapping software-solidworks 2007 and got its model. Finally, we selected the suitable materials for processing and assembled its parts and got the entity of the humanoid robot.The humanoid robot's controlling circuit board was designed.We used circuit drawing software protell99se for schematic design and drawing.The right packages of components were chosen and PCB board was designed according to the schematic. We melted the components of controlling circuit board and tested it if it could work.Humanoid robot control method was studied.Eech joint degree of freedom of humanoid robot was controlled by one servo, so it needed multiple channels of PWM waveforms.24 channels of PWM waveforms were generated by TI high performance DSP processor TMS320LF2407A. According to the periodic feature of PWM waveforms witch controlled servo rotation,24 ways of PWM waveforms were output using the method of time-division and grouping.This method was not only simple but also reliable with very high precision.Programming on the human motion and gait planning were researched. Because of the humanoid robot motion data was on the huge demand for storage space, the means of the data storage was improved and the data of servo witch did not move was ignored.So that a rich dance action was acthieved using limited storage resources.On the humanoid robot gait planning, firstly the model of humanoid robot was simplified and the coordinate systm was built in it.Then the humanoid robot gait was planned based on ZMP point.Finally, the curve of the angle of each joint movement and time was get by matlab software.