Gait Planning And Control Research Of Biped Robot With Heterogeneous Legs

With the rapid development of humanoid robotics techniques, the lower limb function compensation has been widely studied and a variety of prosthetic legs were developed. But in view of the physical limitation of amputees, it is very difficult to do such experiments. Biped robot with heterogeneous legs (BRHL) is a novel robot mode, which is integration of the research of biped robot and intelligence prosthesis from the points of improving humanoid walking characteristics, enhancing walking function and providing research test-bed for intelligence prosthesis.Following the description of the significance, contents and background of BRHL study, this paper gives detailed introduction of the BRHL system configuration and then focuses on research of gait planning and multi-agent systems design.In order to let BHRL achieve humanoid walking, gait planning is necessary. Based on linear inverted pendulum theoretic, this paper acquires a series of humanoid gait tracking. Preview control is applied to the BRHL, and then by using optimal feed forward preview control techniques, the center of gravity is controlled and become more stable. Through the theoretic of stabilizing moment, this paper focuses on the gait planning of multi-tasking about BRHL.For control simulation, united simulation based on virtual prototypes can avoid the heavy works of manual programming of modeling and resolving, and reduce the study risk and shorten development period.In the issue of control strategy, this paper introduces the theory of multi-agent systems (MAS), and focus on the application of MAS, and researches the concept of agent. At last using multi-agent systems theory designs the formula of mission with BRHL, and guides the way of gait planning.