| Humanoid robot posses a anthropopathic movement that using alternating feetto support. Compared with other types of robots,Humanoid robot is provided withvery good flexibility and adaptability in healing service and working in hazardcondition.It has put forward a high requirements on stable dynamic walking controlbecause the biped structure and walking enviroment are very complex.In orde toimprove the stability of dynamic walking, The main research contents and results areas follows:(1) The robot kinematics model is established. And the robot spatialposition presentation and coordinate transformation are analyzed in this paper. Thesemodels of the robot is the basis of research gait planning and control.(2) Introduce an iterative algorithm of COM inverse calculation byLevenberg-Marquardt.Based on the approximated assumption that COM is fixed inlocal coordinate system, the control angle of the robot leg can be solved to drive theCOM toward the target position. This process can be iterated to achieve highprecision. At last it is shown to be efficient and precise by simulation tests on a NAOhumanoid robot.(3) Propose a gait planning algorithm based on the cubic splineinterpolation.analyse the timing relationship of biped walking.according to the mainjoint postures of critical moments during Single support period and Double supportperiod,planning the walking patterns of ankle and hip joint.calculate the ZMP andverify the planned gait’s stability through matlab simulation.(4) Present a algorithm of gait control based on learning Human controlstrategy.construct state equation of biped walking system by use ofthree-dimensional linear inverted pendulum model.establish a parametric model forlearning HCS.design SVM learning controller.build a closed-loop gait controlmechanism included the inner loop PID control and the outer loop correction onlineof COM.At last, walking experiments of humanoid robot NAO are carried in ourlaboratory. These results show that the method get satisfactorily effect.HCS havemany good advantage in dynamically stable static instability system. |
