The Research On Motion Control System For Biped Robots

The research of biped robots is always the most active field in robotics. The control system is the most important part of a biped robot for it directly determines the performance of a robot. According to the problems that exist in the control system of current biped robots, and taking the trend of control system into consideration, this thesis studied the distributed control system and designed a motion control system for a biped robot based on the DSP chip. Also, this thesis chose some relevant sensors to perceive the posture of the biped robot and wrote many relevant software programs, and then did walking control experiments, signal acquisition experiments of sensors as well as feedback regulation experiments of the biped robot based on the foot. The control system designed in this thesis is more compact, much cheaper and more open. All of those experiments verified that the control system designed in this thesis is effective and reliable. The major content of this thesis are as follows:1. Introduced some control technologies that related to the biped robot control. And simplified the mode of the biped robot as well as obtained the equation of the forward and inverse kinematical. Studied the stability criterion based on the zero moment point and the gait planning method. Analyzed several foot-ground contract modes and proposed the feedback regulation policy which based on the robot’s foot.2. In this thesis, we designed a distributed motion control system according to the walking characteristics of the biped robot. What we’ve done is that we made the overall design of the distributed control system and at the same time we’ve chosen the master chip of the motion control system. And then we chose the force sensor to measure the pressure and the dual axis inclination sensor to measure the joint angle of the biped robot.3. Designed the software modules of the control system of the biped robot, those modules include motor driving software program, communication program based on CAN bus, signal acquisition software program, analog SPI communication software program and feedback regulation software program.4. In this thesis, we did the walking control experiments of the biped robot, communication experiments on CAN bus, signal acquisition experiments of sensors and feedback regulation experiments of the biped robot based on the robot’s foot. All the experiments proved the effectiveness and reliability of the motion control system of the biped robot...