Research On Motion Control Of Biped Robot With Heterogeneous Legs Based On Hybrid Actuation

Biped Robot with Heterogeneous Legs is a novel robot model, which is integration research on biped robot and intelligent prosthesis. It not only can do various walking experiments, but also can simulate the situation that knees amputees wear intelligent prosthetic, do a mass of repeatability and variety test study of intelligent prosthesis, and provide a scientific platform for the research of intelligent prosthesis was provided. The research of robot drive mode is extremely important too, good driving mode will surely promote the development of Biped Robot, and push the research on prosthesis to a more intelligent way.In this thesis based on the research of recent situation and significance of Biped Robot and intelligent prosthesis, according to the request of saving energy and drive mode, the bionic leg for BRHL was improved, a concept of hybrid actuation knee was proposed, the motion control study on the improved BRHL was put forward at the same time. In this thesis, the item, such as model establishment, gait planning and analysis, walking simulation analysis, etc, was mainly considered.Bionic leg is intelligent prosthesis which help the amputees, whose development must correspond to the human body’s requirements for the prosthesis. The bionic leg should not only have the ability to walk like a man, but also can’t increase the pain of disabled people, can choose the right drive mode according to the environment and the fatigue extent of human beings, which also should satisfy the need of saving energy. In this thesis, a hybrid actuation system composed with the MR dampers and ball screw drive system was proposed. The mechanical model of the system was established. The validity of the proposed system was demonstrated through the Adams software.A reasonable gait is the key for the walking of the biped robot. The gait planning is extraordinarily important for the hybrid actuation system due to the complication of the system. In this thesis, cubic spline interpolation method was used to map out the gait of a biped robot with heterogeneous legs based on the hybrid actuation In order to further study the walking of biped robot with heterogeneous legs, the model of BRHL based on hybrid actuation was created in SimMechanics. The ground contact force was analyzed. And the model of the control of the contact force was created. The result of the simulation of the walking of the robot in the horizontal surface, inclined plane and on the stage is ideal.The walking process of the biped robot is basically the process of tracking the joint trajectory of the biped robot. In order to get a better tracking, a distributed control system based on CAN bus was created in this thesis. After analyzing the application of iterative learning control in curve tracking, the trajectory tracking control of the robot’s single joint was done through iterative learning control method.