Humanoid Walking Robot Motion Planning Methods

Motion planning is one of the key techniques for the research of humanoid robot, stable and natural walk is the main sign different humanoid robot from other robots,and it is the base for robots realize its essential manipulation.Due to its high order,nonlinear and strong coupling,valid mathematical model's construction is very difficult.In the paper we take the research fruit of home and abroad as reference,first we establish the simple decouple dynamic model by Lagrange dynamics equation.,after this the stable walking condition has being formulated.We introduced the static walking method,experiment according the method has been done and successed.Then we laid emphasis on algorithm design and simulation for dynamic walking motion planning. The dynamic motion planning method based on ZMP(Zero Moment Point) has been discussed in detail. According to the way,we first got the constraints of foot during walking and taken them as key frames,then using three order spline interpolation function through key frame to get the trajectory of foot. We taken ZMP stable margin as evaluation function for seaching in the scope,optimal hip trajectory has been gotten.Finally,the joint angles have been calculated by kinematics.Simulate has been done according as the algorithm. The simulation result testified the feasibility and validation for the method.Considering the harmony of upper limbs and lower limbs,we simply planning the motion of upper limbs.In the end,the experiment design has been introduces. We draw a conclusion for joints debugging and figured out the trouble and found the way for the problem.