Design And Study Of The Gait Control System Of Humanoid Robot Based On DSP

The research on Humanoid robots focuses on the latest research results in machinery, electronics, computers, artificial intelligence, sensors and many other disciplines. Compared to the wheeled and crawling robots, humanoid robots are designed to assist human beings in life and working environment, or even to replace human beings in dangerous works. Therefore, humanoid robots have been widely studied. However, humanoid robots are complex dynamic systems with high order, nonlinearity and strong couplings. Moreover, with the development of modern science and technology, humanoid robots are expected to work more. They are required to have more joints in order to increase the flexibility, to improve the walking ability, to have richer sensor configurations, and to improve the ability to adapt to the environment.This thesis focuses on the characteristics of humanoid robots including their weak walking stability, complex gait planning and inverse kinematics, and complex configurations of joints and sensors. We propose a three-dimensional linear inverted pendulum model in Cartesian coordinates to improve the flexibility of bipedal walking robot’s motion and inverse kinematics. The movement of the robots is designed with both simulations and experiments.We first establish the inverted pendulum model and DH model of the robot’s feet in Cartesian coordinates, where the pendulum model is used for planning the gait of the robots and the DH model is used for inverse calculations. The motion equations of each joint are then established to determine their trajectory. The inverse kinematics of the robots are solved by using the space vector angle method. We then model the robots using matlab software, where we find that our design is beneficial for the robot’s walking stability and simplifying the inverse kinematics. We finally carry an experiment to demonstrate the validity our design.Experimental results show that our design is feasible and effective for the gait planning and inverse kinematics of the robots. Basic movements of the robot are realized with a certain degree of control accuracy.