The Research On Gait Planning And Stability Of Biped Robot

Biped robot has been one of the hotspots of scholars’ research direction in the field ofrobotics because of high mobility and environmental adaptability and other characteristics.Since biped robot research related to mechanical, control technology, computers, electronics,artificial intelligence, materials and many other subjects. So the ability of researching bipedrobot not only reflects the development of a national automation and intelligence, andrepresents the country comprehensive ability on scientific and technological. Meanwhile, thebipedal robot has important practical value for robotics industry, because it can walk in avariety of complex ground. Thus, it has important practical significance to make biped robotfast and stable walk by researching biped robot.The theses reviews the progress in technology and theories research related to bipedalwalking robot stability, and launched the " The research on gait planning and stability of bipedrobot "for gait planning and walking stability of the biped robot and other issues, and useMATLAB and AFU2010prototype platform for simulation and experiment.The Kinematics of the robot is the relationship between each joint variable and itsconnecting rod, including the forward kinematics and inverse kinematics. The articledescribes the basic of biped robot kinematics, and use homogeneous transformation matrix torepresent the pose of objects in space. On the basis, each robotic joint posture matrix in thereference coordinate system is derived by calculating the robot forward kinematics, and usingthe method of controlling the error between the desired state and the current state of the robotto achieve the solution process of inverse kinematics of the robot.Gait planning of robot is to gain a series chronological changing values of joint anglesthrough certain methods. The article will use the three-dimensional linear inverted pendulummodel to structure bipedal robot model, and obtain the trajectories of the robotic center ofmass and legs foothold and match swinging foot trajectory by trigonometric curve. Thenthrough inverse kinematics equation obtain each joint angle of the robot. So the biped roboticgait planning is achieved.Walking stability of robot, which is to ensure biped robot is always in a stable state in theprocess. The article the analyzes walking stability control method that is base on thetraditional real-time tracking ZMP (Zero Moment Point, Zero Moment Point)/COM (Centreof Mass, Center of Mass) trajectory and combines with the characteristics of the human walk,then proposing a online tracking error correction method for biped robot. This method doesnot require real-time tracking desired ZMP/COM trajectory by using an error margin of errorlimits and methods to correct online the deviation between the actual state and the target stateof biped robot, and implement gait compensation control for biped robot. So solving theconflicts between the real-time online correction process of the robot and ZMP positionfluctuated.Finally, through AFU2010experimental prototype platform conducts experiment aboutgait planning method based on3D linear inverted pendulum model and corrects its gait bybiped robotic online tracking error correction method. Experimental results show that the effectiveness of gait planning and stability control methods.