The Design Of Humanoid Robot And The Research Of Walking Control

Humanoid robot has a similar structure, appearance and behavior with human. It involve mechanical design, sensor technology, control theory and some other discipline. It has broad application prospects, wich makes it an important research direction in the robotics research field. RoboCup (Robot Wold Cup) is an international organization of research and education. It puts forward some standard problems (such as robot soccer, robot rescue etc.) to promote the research of artificial intelligence and intelligent robot.According to the rules of the RoboCup KidSize group and based on the robotic demand analysis, this paper complete the design of the hardware,the software and the the mechanical structure, and make a further study of robotic walking control and stability control. The main research contents of this paper are as follows:· Design the humanoid robot overall, including the selection of sensors and actuators, the software design and the hardware design. From top to bottom, the software structure is divided into decision-making module, action-planning module and stability control module, and the software platform of the action-planning module and the stability control module are emphatically set up. The hardware structure is divided into main control board, motion control board and distributed sensor data collection board, and the hardware design and realization of the motion control board and the pressure sensor collection board are completed.· Complete the design of the robotic mechanical structure, based on the kinematics modeling of the robotic lower limbs, the forward and the inverse kinematics of the robotic lower limbs’ joint are analyzed, and the expression of them are deduced, which establish the mathematical foundation for the design of robotic movement.· Generate the robotic gait based on the ZMP stability theory and the cart-table model, presents an algorithm of fifth degree polynomial insertion to solve the problem of uncontinuation of the velocity and the acceleration at the moment of switching supporting foot. The rationality of this algorithm is verified in Matlab simulation platform and the multi-direction walking of the robot is implements.· Research on the stability control of the robot, including the attitude stability control and the ZMP stability control, and design PID contoller and state feedback contoller respectively, improve the stability of the robot in motion. Compare the control effect of the two types of controller according to the feedback data in pratical application.