Research On Walking And Gait Planning For Humanoid Robots In Robocup3D Simulation System

Robot research is a rapidly developing comprehensive frontier discipline, involving computer science, mathematics, kinematics, machinery manufacturing and other disciplines. Furthermore, it is one of the most ambitious dreams of technology. The research and development on humanoid robots have become an important field of robotics,started in the 70s,research so far in the ascendant.Biped walking robot has been hot topic. How to make the robot walk more stable and faster is our goal. Model of the robot by the robot abstraction, and thus use the gait planning for robots is basic research methods today. So gait control strategies are an important factor affecting the walking stability of bipedal robotsThis thesis used RoboCup3D simulation soccer game as a research platform, and the development of DreamWing3D, that is a simulation soccer team from Anhui University, as the research background. In order to solve problems in humanoid robot gait planning, specific work that was carried out in the research is stated as follows:1. For the robot use of its more precise and fast method for forward kinematics based on robot kinematics model and then using analytical approach to calculate robot inverse kinematics model。We get a fairly complete calculation of the underlying kinematics by some of the robot leg joints of special treatment。2. This paper offered a kind of Gait Planning of Biped Robot Based on 3D Linear Inverted Pendulun. Firstly, simplify the original 3D inverted pendulum model and Suppose the location of the ZMP for the starting state of walking cycle. Secondly the function between Centroid and time derived from Equations of motion。Then Simplify gait planning of biped robot to each walking cycle and get the relevant parameters of the functions through Initial conditions for each cycle.3. To process the Gait planning model so the model can adapt to variable speed linear motion, oblique motion, and turned and other movement pattern and provides practical Robocup3D applied to the experimental game. Experimental results demonstrate the feasibility and effectiveness of the approach.Throughout all the work carried out in this research, the first RoboCup3D simulation football team in Anhui University was born, and it was able to finish matches and achieve good results.