The Planning Of Anthropomorphic Behavior For The Humanoid Robot NAO

Research on humanoid robot, involving many fields such as robotics, artificial intelligence and automatic control, is one of the leading subjects in current robotics domains. Walking for humanoid robot is one of the most basic humanoid behavior. It is the emphasis and difficulty of humanoid robot field for achieving stable walking on complex terrain. The gait planning of humanoid robot NAO during climbing and the trajectory planning of the end of its right arm during writing were studied in this paper.Aiming at gait programming of humanoid robot NAO climbing stairs, it was performed on the basis of the inverted place model, space geometric constraints, ZMP ZMP criteria and the three times spline interpolation. It was firstly made that the nine connecting rod structure and mathematical model of robot's leg of humanoid robot NAO,including kinematics model, inverse kinematic model, and Inverted pendulum model.Secondly, the process of humanoid robot climbing stairs was divided into three phases:containing starting step, middle step and stopping step. Stopping step was reduced to an inverse process of starting step. Every middle step was divided into transfer the center of gravity(COG) to the left, lifting left foot, transfer the COG to the upper and left and lifting right foot. The joint angle sequence during humanoid robot climbing stairs can be solved according to the inverse kinematics model and spatial geometric relationships.Simulation experiments can be carried out using data sequences on Webots simulation computer platforms. During humanoid robot NAO climbing stairs, simulation data can be analyzed to demonstrate the rationality of modeling analysis and feasibility of climbing stairs gait planning and verified on humanoid robot NAO.Inverse kinematics model-based and locus method of reference were proposed initially to achieve writing. On the basis of written stroke of simplified Chinese characters. Angles sequence of various joints during writing were obtained based on the inverse kinematics model, making the robot to achieve the function of writing, and thewriting of “?” was completed successfully by humanoid robot NAO.