Study Of Human-like Locomotion Of Humanoid Robot Basesd On The Human Motion Captured Data

As we know, humanoid robot structure is similar with human. It has highly anthropomorphic characteristics that other types of robots don’t have. Ultimate goal of humanoid robot study is to make it replace human to do many dangerous work. The premise of humanoid robot to adapt the real-life environment is its stable gait. After a long period of natural selection, human gait has become the best bipedal walking mechanism. In order to make humanoid robot which has highly anthropomorphic properties own perfect gait, the quickest way is to realize human gait characteristics via the study of human gait. According to previous studies, building humanoid robot kinematics model will play a vital role for achieving humanoid robot gait planning. The paper build kinematics model of Nao robot to analyze the gait of humanoid robot. After researching on the similarity and difference of robot and human, we conclude that some actuators of the humanoid robot can directly use human gait data as their gait planning data whereas some cannot because of the differences between human body and robot structure. Then we will summarize the human gait laws and apply these laws on these humanoid robot parts.This paper will achieve humanoid robot gait planning through the following steps:⑴ First, this paper uses the real-time motion capture analysis system to collect the human gait data in a walking cycle. Then we optimize human gait data by filtering, cubic spline interpolation and draw the curves of the lower limb joint angles.⑵ This paper builds the kinematics model of Nao robot. This paper establish humanoid robot kinematics model by using coordinate transformation of joints. Then building inverse kinematics model of humanoid robot, the human gait data will be used in humanoid robot terminal actuator directly. By this way, this paper can complete humanoid robot terminal actuator gait planning. In order to make humanoid robot gait like human gait more and simplify gait planning process, this paper only study humanoid robot gait planning based pitch angles. Through simplified humanoid robot kinematic model analysis, this paper adds more human-like features to humanoid robot gait.⑶ It can’t achieve desire gait solely depending on achieving humanoid robot terminal actuator consistent with the human gait data. In order to make the humanoid robot joints reflect the characteristics of human gait data, this paper establishes 7-link biped model. It can calculate the humanoid robot joint position by 7-link biped model. We let the joint of humanoid robot achieve human joint’s movement to make the humanoid robot gait and human gait closer.⑷ It chooses the Nao robot in webots as experimental platform in this paper.This paper studies the characteristics of human gait kinematics. We complete the humanoid robot gait planning by humanoid robot kinematic model, which proves the possibility of human gait data can be applied on humanoid robot.