The Design Of The Joint Controller And The Research Of The Stability Of Gaiting

Nowadays, research of humanoid robot has been one of the most important topics, and it integrated many basic subjects and plenty of high-new technology. The more robots like human, the more complicated control system is. So, it is necessary to optimize the circuit's configuration and reduce the power dissipation. As the science develops, the humanoid robots are asked to be more and more like human, so the standards of control system and the stability of gait planning are higher and higher. In this thesis, the author performed deep researches on control system and the stability of gait planning.The main achievements of this thesis include:Firstly, all of the researches of this thesis are for the humanoid robot, named STROLL. The drive mode of the robot has been designed based on the mechanical parameters of the robot joints and the analysis of mechanical configuration. Compared with some other drive models, the digital steering engine was chosen to drive the motion of joints.Secondly, the sensor system of the humanoid robot has been designed in this thesis. There are two parts here. One is internal sensor system, and the other one is external sensor system. The internal sensor system is used to get the information of angular velocity and the position on time in order to provide the parameters of the joints to the Control Algorithm. While the external sensor system was designed for measuring distance, avoiding obstacles, pipeline walking and Autonomous navigation.Thirdly, the hardware of joint control system was designed, and the research on the Control Algorithm of the steering engine was performed too. In this section, incremental improvement of PID control algorithm was used, and was simulated in MATLAB.Finally, At last, perform the research of the stability of gaiting from two aspects. On the one hand, calculate the equation about the position, Angular velocity, Angular acceleration of the special joints to make sure that the Angular velocity and the Angular acceleration are equaled to zero at the starts and the ends of each step. On the other hand, the equation of the position and Angular velocity were calculated by the methods of Cubic spline Interpolation Function, so as to improve the stability of gaiting. And the researches were also simulated in MATLAB.