Research On Gait Planning And Walking Control For Biped Robot

The research of biped robot is one of the hottest topics in robotic field, Comparewith other mobile robots; it has many human being character and greater flexibility.The stability of its gait has become a hot issue; gait planning is the basics and key partfor the robot to walk. In this article, we based on the self-developed bipedal robot asresearch object, study the gait planning and control method of biped robot. The mainwork of this paper is listed below:Firstly, using the Denavit-Hartenberg rules established the direct kinematicmodel, the numerical solution and analytic solution for solving the inverse kinematicsequation is introduced, we calculate the force on connecting rod of the lower limb andthe joint torque using Newton Euler method on the basis of kinematics analysis ofrobot.Secondly, using three-step planning method for biped robot gait planning,through the polynomial interpolation method to solve the trajectories of the swingingleg ankle and hip, and then apply the robot inverse kinematics to get the motiontrajectories of the joint’s vector, realize the parametric representation of the gait.Thirdly, under the target of energy consumption, walking speed and stability, weusing Generic Algorithm to optimize the walking parameter, then get a set of Paretooptimal solution. Conducting three-dimensional modeling and simulation in ADAMS,the feasibility of the walking gait has been preliminarily identified.Fourthly, after study the information of servo parameter, communication andothers, we design the hardware connection circuit, using the technologies whichcombine EXCEL and VB6.0to write the robot’s motion control program, finally thewalking experiment is carried on, the results indicate that the robot walk stably on theplat and achieve the desired objectives.