Modeling And Application Research Of Biped Robot System

As the important branch of the robotics, biped robot represents the cutting-edgetechnology of robot, which is the highest state of robot research. Biped robot has manytechnical such as electricity, materials, computers, sensors and control technology. It is animportant symbol of the strength and level of a national high-tech. Therefore, the research ofbiped robot has an important implication on the country’s scientific and technologicaldevelopment. As biped robot has the characteristics of multiple variables, nonlinear, strongcoupling, it is an excellent research platform in control field. The research of biped robot hasimportant academic significance.This article will build a complete walking model of the robot. The stability criterion ofrobot will be obtained. The robot will walk stably through the compensation of the center ofmass. Finally, the model will be simulated and verified through MATLAB, AF2010Robot.Robot kinematics problem, which includes two aspects (obtain the position andorientation of each link by the variables of joints and obtain the angle of each joint by positionand orientation of each link). It introduces the mathematical foundations of robot kinematics,using matrix to represent the position, posture, and movement of each link. Finally this pagederives the forward and inverse kinematics equations of all robot links through the D-Hmethod and geometric method.The robot gait modeling problem, which the robot plans its gait automatically and walksnaturally like human. This article will use the three-dimensional linear inverted pendulummethod to build the gait model of robot, obtain the trajectory of the center of mass and thecontact point of foot, and then obtain angle of each robot joint through using inversekinematics equations, so as to drive the movement of the robot.The stability criterion problem of robot, namely how to judge the robot is in a stable statein the process of walk. This article will propose a method that how to obtain the ZMP throughthe center of process (COP) based on the classic ZMP stability criterion. At last, the stabilitycriterion of robot will be obtained.Finally, this page set the parameters of walk of the robot (step length, step width, stepcycle), simulate and verify the model of robot gait through MATLAB, AF2010robot. At last,the robot walks steadily through compensation of the center of mass.