Locomotion Planning Of Humanoid Robot Based On Central Pattern Generator

Since the flexibility and adaption of humanoid robot and the accessible appearance, the humanoid robot is potential for help solve the problem of aging population and supply better services for human. To realize the humanoid locomotion in the environment of the huamn beings is basis for the above goals and also is an important goal of humanoid robotics research. Due to the general process of humanoid robotics research in rencent years, there has been a great progress in realizeing the humanoid motion plannign in complex unstructred environment, that is, footstep planning will plan footstep sequences, then to get the humanoid robot locomotion, the footstep transition model supplys a gesture transition trajectory according to the footstep sequences. There are existed some backwards for footstep transition model, such as walking motion is unnatural, needs large computing, poor abaptability, and servely relying on the robot model. So, this dissertation systematically puts forwards gait planning and steadily motion control for huamoid robot.The main work and contributions of this dissertation is getting motion trajctory of the leg joints of the robot by analysising the motion law of the humanoid walking based on the understand of the function and value of biological rhythmic. After that the whole motion of the humanoid robot was divided into five primitive motion in three plane, and two primitive motions are basic motion for walking, the other three primitive motions are related to walking pattern.The relation between parameter of CPG and walking pattern is clear. Then constructed the CPG model and CPG network control model. According to the first content we have get the needed attitude of CPG model. We begin with the attitude of CPG model to build CPG model. Then, by distributing those CPG models into the related motion joints, a whole CPG network can be getted.To improve the adaption of the walking based on CPG built the feedback control system. By monitoring the state of the robot body, we adjust the parameters of CPG network to adjust the state of the robot.The system was used to control simulation and physical platform of NAO robot to vaild the effectiveness of the CPG control.