Design And Research Of The Small Biped Robot Based On ARM Controller

Bipedal robot has been the hotspot in research of robot, involving machinery,automatic control, computer technology, electronics, materials and other subjects. The walking characteristics of bipedal robot are relatively more advantageous than other mobile way, which include crossing obstacles, going up and down the stairs, low requirements for walking environment and small mobile blind area. Compared with the traditional robot, bipedal robot is more flexible, but at the same time, it is also the most difficult way of moving, therefore stable bipedal walking has always been the focus of humanoid robot research. The purpose of this paper is to develop a reliable,low cost and small bipedal robot platform, and to achieve a stable biped walking through a reasonable gait planning.This paper is based on the current development of bipedal robot at home and abroad, combining with the characteristics of human walking, then determines the number of robot’s freedom degrees and allocation plan, and design a robot motion system with 8 degrees of freedom in the legs. By selecting the servo actuator as the driving motor, the paper designs and assembles robot referring to the human body proportion. Taking the prototype of the robot as an example, the D-H method is used to construct the mathematical model, at the same time, the forward kinematics equation of the robot is introduced by the homogeneous transformation theory of the matrix, and through analysis is used to get out robot’s inverse kinematics solution.Adopt the method of planning ZMP to off-line constrain the gait of the robot, this paper gets ankle and hip’s moving trajectory by using the method of polynomial interpolation fitting, simultaneously realizes the parametric representation of the gait and simulates ankle and hip trajectory in the Matlab environment.According to the design requirements of this paper, it adopts STM32F103 microprocessor whose core is ARM Cortex-M3 as the main control chip on the hardware, then designs and completes the hardware function of the control system,which includes infrared remote control module design, power module design,photoelectric isolation module design and sensor module design, etc. On the basis of the hardware circuit design, the paper derives the idea of modular, as a result compiled the corresponding software program.Finally, this paper experiments on the robot prototype, applies off-line planning of gait data to drive actuator, and collects plantar pressure in the course of robot walking through the sensors, thereby we calculates the ZMP trajectory, and choose a result maximum stability margin as the robot’s walking parameters. The experimental results turns out that the structure design and bipedal robot gait planning are reasonable and can guarantee the stability of bipedal walking of the robot, meanwhile this paper build a good technical foundation for the further study of the bipedal robot.