The Humanoid Robot’s Gait Planning And Simulation Research

Compared with other types of mobile robot humanoid robot has betterenvironment adaptability. To realize stable walking of humanoid robot is an importantpremise of humanoid robot to realize other functions, so the gait planning is the key ofthe humanoid robot research. Therefore, gait planning has been one of researchhotspots of humanoid robot. Based on the existing small humanoid robot ROBONOVA-1as the research object research on the gait planning.Teach programming and manual programming are usually used to implement ahumanoid robot’s gait planning. There are many methods lack of focus adjustment leadto robot walking instability. In this paper, according to the actual structure size of therobot prototype firstly, the three-dimensional software in humanoid robot model isestablished based on linear inverted pendulum model and Zero Moment Point principleplan the robot gait, the planning after the generated data in txt format into simulationsoftware in the robot simulation model of each joint. Through the simulation to see therobot to realize stable walking of instructions for humanoid robot’s gait planning hasbeen completed, the feet trajectory smooth transition and in the process of walkingapplication of cubic spline interpolation method overcome the impact of the walkingprocess.This paper not only carried on the plane of the humanoid robot’s planning,but alsomake two ways plan the gait of the humanoid robot to climb the stairs do contrastresearch and carried on the simulation respectively, after the success of the simulationand has carried on the experiment by physical prototype, ultimately determine themore appropriate way of walking, finally through the results of simulation andphysical prototype test proves the rationality of the robot gait planning.