The Structure Design And Gait Research Of Humanoid Robot

With the development of science and technology, robotic applying fields are continually expanding. Humanoid robot research is a central issue, which combines science, electronics, communications, control science, sensors, and other technologies. Walking is the most basic and difficult function for the humanoid robot, which contains many joints and complicated structures. In this paper, walking is taken as the research target. In order to make the humanoid robot walk stably, the structure design, kinematics and dynamics analysis, gait planning and robot vision system design are carried on.First, this article mainly introduces the research background, significance and development status of the humanoid robot. Second, the humanoid robot structure is designed based on the configuration of degrees of freedom and the analysis of range of motion, and3D modeling is done in SOLID WORKS. Thirdly, by using D-H rule the robot kinematics is analyzed and simulated in MATLAB. Fourthly, the gait of humanoid robot is devised. The virtual prototype of robot is imported into ADAMS to verify the rationality and stability and the gait simulation is completed. Finally, the humanoid robot visual navigation system is designed to recognize the road sign rapidly and accurately.By the structure design, kinematics and dynamics analysis, gait planning and robot vision system design, the paper realizes the comprehensive intelligent robot system, which plays an instructive role in the subsequent research.