Design And Development Of The Small Biped Humanoid Robot

With the development of science and technology, robot applicationsare continually expanding. With its unique features, smallbiped humanoidrobot has got extensive attention from all fields and has become a hotfield in the robotics research. With its small occupied area, lowenvironmental requirements, certain ability to go beyond barriers andsmall mobile "blind spots", the walking system of small biped humanoidrobot has broad applications. Although the two-foot walking is the mostdifficult walk in biosphere, its performance cannot be reached by anyother walking structure. Therefore, it is one of the key technologies inbiped humanoid robot research and stable walking is the main symbol thatdistinguishes from the other kinds of robots. The topic aims to designand develop a small biped humanoid robot and to achieve a stable walkthrough the robot gait planning.Firstly, serial configuration mode and minimum degree of freedommeeting the functional requirements of robot design program areidentified by analysis of configuration mode and degree offreedomconfiguration. Combined with the human body morphology and bionics, solidmodeling andvirtual assembly are carried out in Solidworks. The size ratioof the robot is close to human body.Secondly, robot kinematics model and kinematic equations areestablished and kinematic analysis is carried out. Transformation matrixwhich is used to describe the robot position and orientation isfiguredout by forward kinematic analysis and all joint angles are figured outby the inverse kinematicanalysis on the base of robot position andorientation. Jacobianmatrixs of the joints provide a basis forjudgingrobot singular position. Kinematic analysis of robotic laid thefoundation for gait planning.Thirdly, the robot walking gait categories and stability conditionsare analyzed and ZMP and other methods are calculated for the walkingstability. The gaits of the robot are planned with ZMP gait planning methodand other methods. Finally, physical prototype of the robot is realized and the robotcontrol system is designed. The controller is selected and the hardwarecontrol system is designed. Control system hardware is design by A10andSTM32F103RE. Middle control board, development board, servo control boardand power supply board are developed. Then, software of controller isdesigned, especially in the initialization and motion control.