Biped Robot Dynamic Walking

Robotics is the representation of the best achievement of Mechantronics, and is one of the greatest fruits of humankind in the 20th century. Though the biped robot has only 40 years history, it became one of the most important branches of robotics for its unique fitness and anthropomorphism.At first, mechanical architecture of FM-1 biped robot is designed in this paper. And servo is selected as the driving equipment. Then, the mathematical modeling is done to kinematics of the robot based on generalized coordinates. This method is easy to be calculated and understood. On the base of the kinematics modeling and Lagrange dynamics equation, the mathematical modeling is set up to dynamics of the robot. By using this method, the driving moment needed by every joint is easy to be calculated, based on which dynamics analysis can be done and motor can be selected.Walking pattern is designed as follow. At first, the constraints of a hip trajectory and an ankle trajectory are formulated, and the hip trajectory and the ankle trajectory are generated by 3rd order spline interpolation. Then, by making use of geometry restrains and walking restrains, the equation of robot's walking pattern based on parameter is derived. The walking pattern design based on parameter obviously predigests the kinematics and dynamics analysis.At last, under the environment of matlab, taking the track of ZMP as the restrain and the minimum accelerations of joints as the optimizing aim, the parameter, which is supposed in the walking pattern design based on parameter, is optimized by genetic algorithm. At the same time the simulation is done. The simulation results show that the designing method of walking pattern used in the paper can satisfy the biped robot's continuous and steady walking.