Gait Planning And Stability Study Of Humanoid Robot Walking System

Humanoid robot research level is an important symbol of national strength and the level of technological development. Gait planning is the basis of the humanoid robot to realize the flexible and accurate movement. The stability of humanoid robot walking system is the important premise to ensure robot stable operation and good operability of upper limbs. So, under the support of New Century Excellent Talents,supported by Department of Education,"the key technologies of walking humanoid robot" humanoid robot walking gait planning and stability study was carried.Firstly, analysis for walking system of humanoid robot, gait planning and stability research were done to determine appropriate gait planning method and factors affecting the stability of humanoid walking robot system. With classic7links humanoid robot dynamics model as a guide, with10degrees of freedom walking humanoid robot system as the research object, based on the analysis of10degrees of freedom to walk process,10links motion model walking humanoid robot system was established. Then with the method of subsection rocessing to solve the kinematics of humanoid walking robot system, derivation formula was obtained. Again by getting the inverse kinematics of derivation of humanoid walking robot system, velocity and acceleration for the humanoid robot walking system were got and laid a solid foundation.Secondly, using the unit circle method to got gait parameters. Combined the constraint conditions on the ground and the motion constraints, create constraints equations at critical time, using cubic spline interpolation method for walking system key parts of the trajectory curve, and then using the inverse kinematics gait of the whole system is deduced. The waist of the gait planning mathematical model is established, the response speed is faster than a purely traditional iterative method for solving the waist parameters and lay a certain foundation to achieve the offline automatic control of the robot.Due to the novelty of this method a new calculation method was proposed for solving gait parameters, promote the development of the theory of robot gait parameters.Thirdly, factors affecting the stability of humanoid walking robot system were determined. Based on ZMP (Zero Moment Point) theory of stability evaluation of the walking system are applied to solve the stability margin, received a link to the walking stability margin at each stage and provided the basis for the stability judgment. Finally, comparing the simulation curve and the theory to solve the path curve, with simulation data as agreed true value theory relative error analysis for the displacement of the critical moment were done, the trajectory curve comparison and error analysis results showed that the planning method and the correctness of the parameters calculated. The problem that gait planning method is complex and response speed is slow were Solved.