Humanoid Robot Crawling Movement And Standing State Transition Planning

The research of humanoid robots crawling and standing state transition can effectively improve the humanoid robot’s ability to adapt to complex environment and extend their application range, so that the humanoid robot can walk out of the laboratory and service to the society as soon as possible. Currently, the humanoid robot research mainly focused on the steady walking and the crawling motion of the robot research mainly involves hydraulic quadruped robot instead of the humanoid robot. Modal conversion movement between humanoid robots crawling and standing state transition is an important manifestation of humanoid robots to deal with complex environment. This research is supported by the Development Program of China and National Natural Science Foundation of China. From the perspective of bionics, this paper puts forward a kind of based on human motion of humanoid robot crawling and standing state transition method of planning, The main research content is as follows:First, this paper discusses the research significance of this article, the humanoid robot research development present situation, further study of the crawling of humanoid robots at home and abroad and its movement with standing state transition planning of relevant literature, and to determine the main research content of this article.Secondly, based on the human body motion humanoid robot multi-link model is established, kinematics and inverse kinematics of humanoid robot are derived. According to the characteristics of the humanoid robot model, in humanoid robot crawling movement, planning a humanoid robot Crawl crawling gait.Thirdly, the crawling of humanoid robot and its movement with standing state transition, can be divided into two parts: standing state status and crawling modal conversion movement, crawling and standing state status modal conversion movement. In the standing state and crawling modal conversion process, planning a humanoid robot standing knee squat exercise, bend humanoid robot hands touch the ground motion, humanoid robot limbs posture adjusting movement; in order to improve the stability, in crawling and standing state modal conversion movement, planning a humanoid robot sport stand swing style.Finally, Adams and MATLAB / Simulink co-simulation platform is set up and the simulation model of the humanoid robot is established. Of the proposed humanoid robot for crawling and standing state transitions and motion planning method is verified, we obtained all humanoid robot joint angles and joint torque for mechanical design and motor selection humanoid robot offers an important basis; in addition, the experiment of BHR-5 verify the the effectiveness of the proposed crawling planning strategy.