An Optimal Planning Of Falling Motions Of A Humanoid Robot

The research about optimal planning of falling motions of humanoid robot can effectively improve their adaption to the complicated environment and extend their application range. Up to now, most of existing pattern generators for humanoid robot falling protection method based on heuristic falling strategy that can’t protect the core structure needed to be protected. Therefore, it is necessary to research on optimization-based falling strategy which generates motions based on dynamic model algorithm. Firstly, compared with inverted pendulum(IP), more accurate and buffer effected inverted pendulum flywheel(IPF) model is to be presented. Also, leg length scale ratio on the buffering effect is discussed. It is supported by the Development Program of China and National Natural Science Foundation of China. Main research issues and results are summarized as follows:First, the significance of this study is proposed. The status and trend of humanoid robots are investigated. The status of humanoid robots falling protection is analyzed, and then the research issues and structure of this dissertation are presented.Second, the humanoid dynamic model is established by using spatial vector method. After applying kinematic constraints between the feet and the ground, the dynamics equation of a humanoid robot with floating base is deduced.Third, each characteristics of the existing methods on falling strategies of humanoid robot(optimization based falling strategy and heuristic falling strategy based on human falling motions) is compared. Based on IP falling protection model, IPF model and IPF+Online model are to be presented which is applied for falling in the aire.Fourth, after falling to the ground, bio-inspired falling motion method is applied because of hard-modeling. During the humanoid robot falling protection algorithm simulation research, it is to be found the unappropriate layout, parameters and shape of the material will lead to failure falling algorithm. Therefore, it is necessary to carry out instantaneous impact analysis and optimization of the buffer force and analyze the impact dynamic force response curves.Finally, the proposed motion planning and control methods for falling protection are validated by the experiments on BHR-6P humanoid robot...