Research Of Gait Planning And Disturbance Equilibrium Strategy For Biped Robot With Heterogeneous Legs

Biped robot is a kind of advanced humanoid robots that can walk like human being and have ability of doing repetitive, hard and exact-need works instead of human being in his living environments. The best example is the intelligent prosthesis research and application. Intelligent prosthesis study for amputee to compensate physically disabled has become an important direction of development in biomedicine rehabilitation field. During the research of intelligent prosthesis, plentiful and repeated walking test of amputees is necessary. Integrating intelligent prosthesis and biped robot study, a new-style robot, biped robot with heterogeneous legs (BRHL) that is composed of a leg of normal biped robot and an intelligent bionic leg, is proposed.Following the meaning, contents and methods of BRHL study, the form, correlation algorithms and the sensor system will be used are described. Gait planning and disturbance balance strategy are two important aspects of BRHL. To ensure that the BRHL have the human gait characteristics, gait planning is need, and to ensure the BRHL can be balanced when disturbed by outside interference, disturbance balance is need. Based on the theoretical of linear inverted pendulum, the relationship of COG and ZMP will be analyzed, the gait of multi-environment will be planned and the COG trajectory will be controlled too.In order to verify the various gait data planned, a biped robot model was build using the Java3D. The model can be used for simulate the various gait data planned, which effectively ensure the feasibility and security of the practical application. On this basis, the paper also experiment in the physical with the planned gait.To be sure the BRHL have the good interference strategy, disturbance balance control is necessary. A new idea presented by the paper, analyzing the balanced strategy taken by human in interference, modeling the disturbance balance using neural network, and then is applied to the BRHL. By simulated the normal balance to achieve balance disturbance control strategy, the method has a good feasibility that can be proved by analyzed the experiment.