Walking Robot Walking Control

At present, the science and technology development vigorously impelled the robot technology research and the application. More and more industry robots are applied in each kind of production line. The research of industry robot is also gradually mature. But the research of moving robot, especially walking robot research, is relatively little, and the goal of the robot studies is make the robot more and more similar to human characteristic.After reading lots of materials, observing many things, and doing many experiments, this paper have studied two feet, four feet, six feet working robots. And this paper has studied each kind of walking robots' gait from the point of bionics, and designed four feet walking mechanism. Because most of the working robots are used the rigid leg mechanism, this paper designed the cushion leg mechanism. Most of the humanoid robots are used serial mechanism, so this paper designed series-parallel robot, distributed the degree of freedom, selected the parameter of the parallel mechanism that we need, based on analyzing the performance of some parallel mechanism. And we carried on the kinematics model and then analyzed it. Based on the ZMP theory, this paper designed the stability fuzzy control system of humanoid robots, then used MATLAB to carry on the simulation for it.