Bipedal Robot Modeling And Analysis Of Gait Planning

Biped robot institution is similar to human,its movement is flexible, avoiding obstacles capability is strong, it can replace human engaged in the work in hazardous environment, this makes it become one of the forefront problems of the robot industry, its wide application potential makes biped robot research has important theoretical significance and practical value.This paper studied the key technologies of stable bipedal robot personification walking gait, mainly studying bipedal gait stability, personification gait planning etc.This paper analyzed the related research and methods of the biped robot at home and abroad in recent years, according to the French NAO robot mechanical structure of the lower extremities and dof configuration, established 12 dof biped mechanism model, from the mechanics point of view, the structure can realize the basic action on foot. Using D-H matrix rules set each link parameters and joint angle variable of the robot, the robot positive kinematics and inverse solutions are obtained. Considering the stability conditions of the robot walking, gived the formula of ZMP point based on the robot motion, analyzed the stability principle of bipedal mechanism, laying the foundation for gait planning. Based on the condition of bipedal robot structure size, in combination with the human gait form, the thesis planned biped robot personification gait. Disintegrated process of bipedal robot walking, the continuous walking motion is decomposed into many small step accordingly, then to plan each step. Firstly analysed the movement character of three-dimensional linear inverted pendulum model, designed the forward and lateral plane motion trajectory of robot ZMP and center of mass according to the characteristics, then the joint angle are deduced with the method of inverse kinematics formula, got all joints trajectory expression in the joint rotation space. Institution was established by 3d dynamic simulation software ADAMS, The paper conducted a simulation for the design of gait motion, analysed the output data result of the joint velocity, angular velocity, torque and of collision force, it verified theoretical analysis feasible and deficiency, determined that improving coordination and eliminating "twisted" phenomenon caused by feet fast movement need to be studied further.