Research On Parametric Gait Planning Of Biped Robot

With the rapid development of the robot technology, the robot has also been widelyused in all aspects. However, due to the walk environment is not always the same butcomplicated. In order to adapt to the environment the robot should adapt to different gaitslope. Make rational planning for the ramp gait of the robot, parametric modeling studiesto solve the problems in walking process with different environments. This paper is basedon the biped robot to walk on flat road to plan to achieve its ramp slope walking gait, andstudy the optimization and gait parameters of the gait in different angles of slope withdifferent walking stride. The main tasks include the following:1. Explain the design principles and methods of design the Structure of robot, theexplain is not only describes the robot’s shape structure, but also includes an introductoryabout walking gait control method categories which provides a platform for the study ofgait planning and control method.2. Established a bipedal robot dynamics and kinematics model. We make asimplification of the actual mechanism of the robot into a twelve-link model, and then itis simplified into a five-link model. The main mechanism for the robot to analysis andcontrol is the lower limbs. the gait improved geometric method for solving the inversekinematics algorithm used in road is introduced to solve the inverse kinematics gaitslopes.3. The research on slope gait planning of the robot. By the introduction of dynamiccompensation algorithms and improved walking geometric method for analyzing thebiped robot walking posture and planning the joint trajectory on slopes; and establishingkinematic model equations, solving the inverse kinematics model and MATLABsoftware programming through interpolation, realized joint planning gait trajectory. Usethe interpolation method and MATLAB software programming for solving the inversekinematics model, by this, we obtain th joint trajectory of planning gait4. According to the slopes gait planning to study the parametric approach of robotslope gait. Analysis the gait slope of the different ramp and the parametric modelingapproach, obtain a stable slope at different gait by Constantly correcting.5. Climbing gait simulation and experiment. Make a gait simulation and physicalexperiments by bipedal robots.