The Research On The Walking Behavior Of Humanoid Robot Based On The Human Motion Laws And The Foot Characteristics

This thesis mainly study kinematic characteristics of human lower limb joints and foot structure by experiment and analyze the flexible characteristics of skeletal muscles. And those characteristics are mapped to the study on the walking motion of humanoid robot to provide the reference on the bionic study of the internal mechanism of the human movement system, which has important theoretical and economic worth to the research and development in biped robot.The main works of the thesis:1) The three-dimension kinematic parameters of the human lower limb were obtained based on the original data of the early human gait kinematics experiment; 2) The foot movement experiment was designed according to the human foot movement features and five-segment foot model to obtain the kinematic parameters of the joints and arches of the supporting foot for different walking steps; 3) Taking the lower limb structure of the experimental objects as the reference, the skeleton model of humanoid robot lower limb with bionic foot structure was established in the software of PROE based on the bionics theory. Then two types of kinematic simulation skeleton models of humanoid robot lower limb were built in the software of ADAMS. One is the sagittal plane motion model, that is, two-dimension motion model. The other is the sagittal plane and coronal plane motion model, that is, three-dimension motion model; 4) Then the muscle models were arranged in the lower limb skeleton model in accordance with the coordinate data of the mark or substitute mark of muscle origins and terminations in the local coordinate system of lower limb joints. The length change of the line of muscle in the musculo skeletal model of humanoid robot was obtained through the motion simulation under the two-dimension and three-dimension walking conditions.This study solved non-accuracy of the human natural gait experimental data for the previous researchers to obtain relatively more precise gait characteristic parameters and kinematic data of the lower limbs of the human body in the sagittal and coronal plane. The foot motion capture system was designed, and a method was proposed for obtaining the kinematics parameters of the human foot based on MATLAB image processing technique. As an important content of the research on the walking motion of humanoid robot, the length variation of the line of muscles was studied by building two-dimensional and three-dimensional kinematic lower limb's musculo skeletal simulation model of humanoid robot to prove the necessity of the three-dimension motion model of humanoid robot and the degree of freedom in the coronal plane.