Research On The Gait-planning And Stability Control Of Humanoid

The birth of cybernetics and the fast development of mechatronics laid a great foundation for the humanoid.Humanoid robots became reality from legends of long before.Humanoid robots have had a whole set of theoris of its own,integrated electronics,intelligence and cybernetics into itself,and formed a field of multi-discipline.The study of humanoids is a promising orientation in the future,which can be used for service business,entertainment, health care, security safeguard, walking assistance, military auxiliary equipment,and so on, and can do part of physical and mental tasks for human. For the similarity with human beings, humanoids can adapt to people’s living environments and become part of human lives.The humanoid research consists of gait control, gait planning, mechanism optimization, et al.This paper mainly studied the gait planning, as well as the robot control. In this paper, the author utilized Webots and Matlab as simulation tools and simulated the static walking, dynamic walking and control algrithms.In the first two chapters, this paper introduced the general development situation and basic theory of humanoid. Then the author deduced the kinematics and dynamics of humanoid, achieving the relation between ZMP and mass center based on simplified and complex dynamic model respectively.In Chapter3, we planned the gait of static walking and planned the dynamic gait based on ZMP in the method of numerics and analysis respectively. Then the author simulated with MATLAB and Webots software, proving the valid of the planning method.In the4th chapter,based on simple dynamic model i.e. Linear Inversed Pendulum model, this paper established a state-space expression, designed state feedback, and obtained the state feedback gain using the poleplacement method.Then we dicretized the acceleration,designed the compensating algrithm and adjusted the mass center by adjusting the trunk position with this algrithm. Through the simulation in Webots, we tested that this stabilizer could improve the stability of dynamic walking to some degree.In the last chapter, Chapter5, this paper concluded some problems in study and proposed some insights into the future development of the humanoid at last.