Design And Application On Foot Sensor System Of Humanoid Soccer Robot

Humanoid robot technology involving mechanics, computer, electronics, dynamic, biology, cybernetics, systems engineering, artificial intelligence and many other technologies, has become the most representative high technologies of 21st century. It represents the highest achievements of mechanical and electrical integration, and is the most active fields of scientific and technological development.As a hot research, how to enhance the humanoid robot's ability to adapt to the unknown environment has been the focus of the study in humanoid robot research. Through designing and realizing foot sensor system, this research is order to on-line access ZMP point, and use it as walking stability criterion to control humanoid robot achieve stable walking.Firstly, by reviewing and summarizing the history and development status of humanoid robot, this paper compares the foot sensor system of humanoid robot designed by different research institutions, and explains the research background, tasks and application prospects, at last gives out the frame of the paper.Secondly, by analysing the classification and comparison of the walking mode , the concept of ZMP (Zero Moment Point), stable region, stability margin and the formula and nature of ZMP is introduced. This paper analyses the relationship of ZMP and stable, then educe the ZMP stability criterion, and uses it as the stability criterion of humanoid robot. Base on the Lagrangian method, the general dynamic model of humanoid robots is upbuilded. As the research object, it is conclude that the robot can not achieve stable walking by adjusting the ankle in the absence of feedback conditions. Therefore it is important to develop foot sensor system to detect ZMP and introduce anti-force information feedback control.Thirdly, by analyzing the limitations of current humanoid robot's control system,hardware structure, the external sensor data acquisition channel is built to link with the original control system and easy to extend. It forms an open layer information collection and processing structure, and provides a basis for the channel of foot sensor information collection and integration of multi-sensor information.Fourthly, the foot sensor system is designed and implemented, and its whole structure and various components function (including mechanical design, hardware design, software design) is detailed. Through the experiment, it is proved that this system is effective in practice.Finally, as front adjustments for example, how to use the foot sensor information in practice is introduced basing on the simplified model of humanoid robot. Under conditions of the introduction foot sensor information feedback, through simulation it is obtained the feasibility and excellent control effect of the improved genetic algorithm and sub-PD control methods.