Humanoid Robot Kinematics And Dynamics Analysis

The kinematics and dynamics research of a humanoid robot are crucial problem, which must be solved. They affect the walking performance. In this paper, we mainly solve the following problems in kinematics and dynamics research by taking the research experience of home and abroad.Firstly, we establish the simple kinematics model in possession of twelve rigid shanks, then deduce the steady conditions by dynamics formulae when a humanoid robot walks. Quoting the conception of ZMP, we deduce the formula of ZMP's position coordinate. Deduce joints' angle formulae of low-limb based on solid geometry, then compare it with the theory of joints' angle calculation based on Euler coordinate transformation.Secondly, put forward the walking planning idea combining forward kinematics with inverse kinematics. Introduce the concepts of stable margin and stable tolerance, then use third-order sample function to achieve walking traces of low-limb and joints' angle of up-limb, at last calculate the joints' angles with kinematics formulae, thus we successfully construct the walking traces and realize the stable walking of a humanoid robot.Thirdly, take the minimal moments of motors in single foot phase as a criterion to optimize the walking traces, then we can obtain a partial optimized walking traces.At last, put forward the conception of maximal cover and the theory of exchanging actions. In the condition that we do not consider the acquisition of vision information, using walking decomposition and A search algorithm, we realize the path planning of a humanoid robot.