Motion Modeling And Gait Planning For Humanoid Robot Walking On Slopes

The researches of this thesis are based on the high performance units and system of humanoid robot. The problem of stable walking is the key technology of humanoid robot, in order to apply the robot in complex environment, the researches of balance control for humanoid robot biped walking on slopes are proposed here. The development of the area of humanoid robot in China and oversea is introduced first. And then this dissertation is focused on the subject about motion modeling for humanoid robot walking stable on slopes. A new method about the walking pattern with off-line and on-line planning for humanoid robot walking on slopes, which combines the cart-table model on an inclined plane is proposed here. The control algorithm is implemented on the robot, experimental results show the realization of stable walking.The main work of this thesis is summarized as follows:1. On the basis of the characteristics of humanoid robot walking on slopes, the cart-table model on an inclined plane which combines dynamical mechanism is set up.2. A motion model that adopts off-line planning is built and deployed. The strategies between upslope walking and downslope walking are deduced separately. This algorithm is proved to be effective by simulation and experiments on the robot.3. Strategies of on-line planning are proposed. Based on the control algorithm of preview control, the simulation which shows the state of legs in each time demonstrates effectiveness of the method. Considering the disturbing of unknown force, predictive control is proposed and stable walking on slopes is realized in the real robot.