Research On Simulation And Control For Robot Walking

The robot technology is one of the greatest inventions in the20th century. Many compelling achievements have been acquired in nearly half a century. Humanoid robot is the most complicated in structure and high integrated in all kinds of robots. Human’s living environments is quite suitable for humanoid robots and they may work with human being, because humanoid robots have the similar shape and motions. The developments of humanoid robots have great influence in human life. The major task of study on humanoid robots is stability of walking function, because the function of walk is the most special in the motions of human being.Gait planning and control simulation of humanoid robots are discussed in this thesis. First, design the algorithm on gait planning, then build the virtual prototype model of humanoid robots, finally, co-simulation of humanoid robots in stability of gait planning using ADAMS/Control and Matlab is accomplished. Besides, optimal design for control parameter of control system has been used.Firstly, the development status and application of humanoid robots at home and abroad are described, and then simulation technology and its application and development status in humanoid robots are introduced. This paper uses virtual prototype technology to study humanoid robots, and then gives the fram of the paper.The paper have analysed the structure of humanoid robots, then humanoid robots’s3D model is builded with free style surface module of CATIA. The3D model is imported into ADAMS software, and the virtual prototype of humanoid robots is accomplished with the help of ADAMS. For the purpose of walk, the desired gait is planned based on single inverted pendulum system. In order to walk steadily, the paper builds the control system for humanoid robots in Matlab/Simulink toolbox. Gait-planned is verified correct, because the purpose of walking steadily comes true through co-simulation of humanoid robots walking using ADAMS/Control and Matlab. This provides theory basis for humanoid robot’s physical prototype.Finally, in order to improve accuracy and speed of response for humanoid robots’s control system, adaptive genetic algorithm (AGA) program is writed with VC++6.0, then the application of DLL is formed through ADAMS’s compiler. The application of AGA is imported into ADAMS through optimal algorithm user interface USER2. Through the these steps given above, optimal design of control parameters comes true successfully. The performance of optimal control system is much better by comparison.