The Rudder Machine Control On Foot Robot System Design

Robotics is the representation of the best achievement of Mechantronics, and is one of the greatest fruits of humankind in the20th century. Though the biped robot has about ten years history, it is one of the most important branches of robotics for its unique fitness and anthropomorphism. At first, mechanical architecture of biped robot is designed in this paper. And servo is selected as the driving equipment. Then, the mathematical modeling is done to kinematics of the robot based on generalized coordinates. This method is easy to be calculated and understood. Then we laid emphasis on algorithm design dynamic walking motion planning. The dynamic motion planning method based on ZMP(Zero Moment Point) has been discussed in detail. Then, by making use of geometry restrains and walking restrains, the equation of robot’s walking pattern based on parameter is derived. The walking pattern design based on parameter obviously predigests the kinematics and dynamics analysis. In the end, the experiment design has been introduces. We draw a conclusion for joints debugging and figured out the trouble and found the way for the problem.