The Design And Implementation Of Gait Verification System And Gait Tracking System For Biped Robot With Heterogeneous Legs

Biped robot is a high-level intelligent robot. It is easier to adapt to the survival of the human environment and to help human complete repetitive tasks in a particular environment than the other kinds of robot for its human-like structure. During the research of intelligent prosthesis (IP), plentiful, various and repeated walking test of amputees fixed with IP is necessary. However, it is difficult for amputees to qualify the work for his physiological defect, which would certainly affect the progress of IP development. Biped robot with heterogeneous legs (BRHL) is a novel robot mode, which is integration of the research of biped robot and IP from the points of improving humanoid walking characteristics and providing research test-bed for IP.Following the description of the background of BRHL study, contents and significance, gait verification system and gait tracking system are constructed to complete the testing work requited in development of IP based on the BRHL test-bed, which make the BRHL more competent for testing work of IP.In order to eliminate the vibration of motor control and to make the BRHL walk smoother, a S-Curve Interpolation algorithm is designed for joins motor control of BRHL following introduction of method of gait data acquisition. The algorithm is made into function with C++.Analysis of the distributed control system of BRHL, a method of hybrid closed-loop control is proposed to to improve accuracy of gait tracking in this paper. Sliding mode control is also studied and a sliding mode controller is designed for outer loop of the servo system. The controller is verified in matlab and BRHL test-bed which prove its effectiveness. At last sofeware is produced for the gait verification system and its flowchart is given.Kinematics information symmetry is studied in this paper. A gait tracking system is constructed using PCA data reconstruction technology based on the gait symmetry. Software is produced for the system and its flow chart is given. At last the effectiveness of the system is proved by experiment.