Study On Walking Impact Modeling And Compensation Control Strategy Of Small Humanoid Robot

Small-sized humanoid robot is a main research topic at home and abroad. Humanoid walking is an important function for humanoid robot. During humanoid walking, landing impact of swing foot is the key factor to affect the stability of walking. Based on BJHR-I prototype, this dissertation establishes the impact dynamics modeling and carries out compensation control study on reducing landing impact force. The specific research works are shown as follows:(1) Reshape humanoid robot prototype, simplify the robot’s structure and reduce its weight for achieving walking function. Install sensors:including potentiometer and pressure sensor in order to collect angle and force during walking process.(2) Based on the second kinds of Lagrange equation, this dissertation establishes walking impact model; including explicit-style equation and explicit-style equation. And substitution of the prototype parameters in explicit-style equation in order to obtain velocity, kinetics and theory contact force. Through comparision with Adams, the establishment dynamics modelings are proved to be correct.(3) The core of compensation controller is based on PSO-BP network (particle swarm optimization) algorithm. And accomplish a well-structure network which is proved to be effective by experiments. The errors of contact force and swing leg high are defined as the inputs of the controller, compensation angles are the outputs. Through prototype experiment, the controller is proved to be feasible.(4) The experiments reveal that reshaped prototype is effective and compensation strategy can reduce walking impact force effectively; at the same time it can compensate the angle error which is happened when swing leg contacts floor and it can improve the walking quality to a certain extent.