Research On A Humanoid Robot's Walking Method Based On A Three-dimensional Gyroscope

Research on Humanoid Robot already becomes one of top search over the world. In the recently several years, much achievement has come out. However, humanoid robot becomes the utility for human still has a long way to go. The Humanoid robot's biped walk is one of important feature for humanoid robot. And its realization is also the top but difficult in research of humanoid robot. How can realize humanoid robot's quick and stable biped walk is of importance now, in the research of humanoid robot. The research in this paper is just in the method of humanoid robot's walk.The Two Steps Gait Plan is taken to plan humanoid robot's gait, in the paper. The method is widely used in Biped Machine. But it can't instantly used in humanoid robot's gait plan, because the construction of humanoid robot has lots of difficulties to Biped Machine. So, to realize Two Steps Gait Plan used in humanoid robot's gait plan, the plan of motion of the balance block of the Biped Machine is replaced by the plan of upper limbs motion of humanoid robot. And to speed the humanoid robot's gait plan and reduce the errors of the robot's attitude, attitude feedback through 3D gyroscope is bring to the humanoid robot's gait plan.The content of this paper is organized by the order of research of method of the humanoid robot's walk. Firstly, the object humanoid robot is introduced, including some important parameters, for example degree of freedom. Secondly, that is the theoretical basis of the research, and building model of the object robot. Thirdly, it is the core of the paper. Elaborate the Two Steps Gait Plan and the attitude feedback through 3D gyroscope walk method, which is used in the paper. Finally, it is the presentation of three experiments and results, which are of much importance in the research. One of experiment exposes the performance of the 3D gyroscope in attitude capture. The results of other two confirm the feasibility of the Two Steps Gait Plan and humanoid robot's walk method using attitude feedback through 3D gyroscope.