Study Of Stabilization For Biped Humanoid Robot Based On Foot Sensing System

With the development of science and technology, robot presents itself on theworld stage and robot technology also permeates various fields of human life. With itsunique charm,biped humanoid robot has got extensive favor. Biped humanoid robotimitates people’s walking style, especially suitable for later work and life, finishingjobs friendly with people. Humanoid robot gait has become a hot field in the roboticsresearch. The research not only has important academic significance, but it also haspractical application value. The foot is the only contact with the ground and the datainformation from the foot is the key for realizing stable walking. This paper aims tocontrol robot attitude with foot sensing system, optimizing the pathway of the centerof gravity, making the robot stable.Firstly, according to the configuration mode and degree of freedom analysis,combined with human body morphology designing the robot that is close to humanbody. STM32F103RC is selected as control chip then the control board finished.Through a series of experiments verify the reliability and stability of the control boardand the function of the control board can completely satisfy the control requirementsof us. Then we finished the motion control of robot.Secondly, robot kinematics model are established through forward kinematicanalysis and inverse kinematic analysis. Choosing the gait and providing the criterionof ZMP stability. Analyze the relationship between the attitude of robot and the forceof feet in the static walking. The criterion of ZMP stability is applied to the walkingprocess.Thirdly, attitude control method is proposed based on the criterion of stability.The control method aims to analyze the relationship between the attitude of robot andthe force of feet in the walking, applying the criterion of ZMP stability. Obtain theforce information through foot sensing system. Measure the real-time position of theZMP. Adjust the attitude of robot. Increase the static walking stability of robot in theclosed-loop control system. Design the foot sensing system, including the selection ofsensor, the design of control circuit, the analysis of sensor installation and so on.Finally, set up the experiment platform. Verify the foot sensing systemavailability in the robot control system through experimenting and analyzing the keyattitude and the overall movement. Apply the attitude control method that based onthe criterion of stability to the walking experiment of robot. Achieve the purpose thatoptimize the pathway of the center of gravity and adjust attitude. Verify the feasibilityof the attitude control method that based on the criterion of stability.