Research And Implementation Of Gait Planning For Miniaturization Humanoid Robot

As the most representative field of robotics research, bipedal humanoid robotic technology has won the favor of many research institutions and researchers all over the world. Its research level reflects a country’s comprehensive strength of high-tech. As the core of humanoid robotic control theory, the stable walking theory is a prerequisite for other control tasks. It has been remarkably development over the past few decades. The mainly used gait planning methods are based on bionic kinematics, model and intelligent algorithm. Based on these theories, researchers have developed numerous prototypes realizing complex tasks, such as walking on flat, up and down stairs, fall and rise.However the experimental results are not ideal due to the complexity of control, poor stability and strict limitations of the environment. This paper presents a simple and practical method of gait planning, which is suitable for humanoid robots with the same structure of legs. We adopt the characteristics of parameter of the developed small biped humanoid robot, and validate our proposed method by dynamic biped walking task.Firstly, this paper describes the mechanical structure and control system of the self-developed prototype. Solve the problem including DOF distribution, design of the structure, choose of material and the selection of the drive, and then shows the prototype and size of structure. We build a complete system from the structure of control system, the controller and software design.Secondly, this paper analyzes the kinematics of the biped robot. We establish the link model of the prototype combined with the characteristics of the structure and joints, and then establish the world and the local coordinate system to describe the model precisely. We analyze the forward and inverse kinematics theory, especially the analytical method of inverse kinematics based on the model.Then, this paper presents a gait planning method based on ZMP stability theory. Binding the parameters characteristic of the prototype, we simplify the model of motive control, generate a walking mode based on three-dimensional inverted pendulum model, optimize the problems, and improve the theory of gait planning. We design a series of experiments of dynamic walking, to verify the feasibility and effectiveness of gait planning.Finally, this paper introduces a judging method of the dynamic walking stability of biped robot. Based on ZMP stability criterion, we chose the FSR as the measurement tool, and describe the calculation method for determining the stability of the robot. Combining the attitude sensor, the posture information of the robot is obtained, which is used to improve the stability of the robot.