Design And Development Of Posture Planning Of Biped Humanoid Robot

The advanced and brilliant achievements of robot research fields are directlydepended on the design and development of humanoid robot, plenty of scientists andengineers have made considerable contribution on the exploration and innovationabout the humanoid robot and have made it be one of the most significant fields of therobotics. As is known to all, the techniques of robotics depend on various kinds ofdetecting techniques and control science, which need the help of theories andexperiments. Therefore, the research progress of robotics is an important symbol ofthe capacity of scientific research and the automatic level of one country. With thedevelopment of science, numerous scientific institutions set out to make research onsmall humanoid robots, which would not only complete the research work accuratelybut also save the research costs and time effectively. This paper aims to provide a gaitplanning method of humanoid robot static walking, which depends on the smallhumanoid robot devised by our laboratory. The paper not only designs the controlsystem of the humanoid robot but also establishes the mathematical model. It alsomakes the kinematic analysis of the robot prototype. At last, the paper verifies thepossibility of the gait planning method of humanoid robot static walking by theexperiment of robot static walking.Firstly, the paper designs the framework of the control system and provides thefunctional requirement of the control system. In the next, it devises the hardwarefunctions of the control system, selects the controllers and makes experiments toverify the functions of the circuits. In the end, the paper designs the software of thecontrol system, which includes plenty of the bottom drivers, such as detection ofactuators situation, detection of the voltage, data collection and progress of thesensors and so forth. In addition, the paper develops the software control board, whichwill increase the controllability of the system.Secondly, the paper introduces the mechanical structure, actuators and the configuration of DOF of the robot prototype. Then it builds up the mathematicalmodel of the prototype and makes the kinematic analysis depended on the forwardand inverse kinematics methods.Finally, the paper provides a gait planning method of humanoid robot staticwalking. It introduces the stability criterion of the biped walking first, and then itmakes discussion about the circumstance of the walking. In the next, the paperprovides the walking parameters and designs one kind of fitted curve to makereference for the gait planning. At last, the paper verifies the feasibility of the gaitplanning method depended on the static walking experiment.