The Research On The Stability Of Biped Dance Robot

As the development of robot becomes more and more intelligent, the research ofthe biped robot has become an important issue in the field of robot research. Thebiped dance robot belongs to the entertainment robot. It combines many kinds ofdisciplines, including robotics, dynamics, control theory and so on. The biped dancerobot both in mechanical structure and control strategy has a very broad space forresearch. Based on references, in this paper, the stability problem of biped dancerobot is researched.In this paper, from the stability of biped walking robot, based on the classicalstability theory, the relationship of the weight distribution and the stability margin isdiscussed, and the ZMP stability theory is analyzed. The ZMP stability theory is usedto the research on the biped dance robot.The inverted pendulum model and table-car model are used for the approximateanalysis of biped robot, and the relationship of the ZMP point and the center of massin the two models is compared. The kinematics model of biped robot is established.And then the connecting rod structure simplified model is established. On the rodcoordinate system, the forward and inverse kinematics of biped robot is analyzed.Based on theoretical analysis, some experiments are used to verify the stabilityof the biped dance robot, including the walking experiment, the side step experimentand the dance experiment. In the walking experiment, the robot can move steadily inaccordance with the set of gait, but slow and small steps. In the side step experiment,the robot can complete three cycles. When the cycle number increases, the robot maytilt and swing, even possibly dump. In the dance experiment, the robot can dancesteadily in accordance with the set of gait.The research of the biped dance robot provides a good platform and the usefulexperience for the further research of the biped robot.