Research On Motion Control For Humanoid Robot

Humanoid robot has become one of the research hot spot, compared with other types of robots, the difference is that it has the characteristics and flexibility of human walking. Meanwhile, stable walking is the most basic behavior style of humanoid robot, the basics and key to achieve stable humanoid walking is gait planning. NAO robot is a typical example of humanoid robot, we based on the NAO robot as research object, study the gait planning of NAO robot. The main work of this paper is listed below:Firstly, the mechanism of NAO robot is analyzed, to simplify the NAO robot joints, using the Denavit-Hartenberg rules established the NAO robot connecting rod model and the local coordinate system of each joint kinematic model, Based on the connecting rod model derived the forward kinematics and inverse kinematics model of NAO robot.Secondly, according to the requirements of the NAO robot to walk, with zero moment point(ZMP) as a walking stability criterion, using three-step planning method for robot gait planning, by solving polynomial interpolation motion trajectory of the swinging leg ankle and hip after solving the NAO robot motion trajectory of each joint vector function expression, realize the parametric representation of the gait.Thirdly, we using Generic Algorithm to optimize the walking parameter under the target of energy consumption, walking speed and stability, then get a set of Pareto optimal solution.Fourthly, import the simplified model of the robot's lower limbs into the ADAMS software which is established in Pro/E. According to the planning of the trajectory of each joint, complete robot walking simulation. By dynamic simulation diagram and vector of each joint trajectory simulation diagram and the theory of the trajectory, verify the feasibility of the walking gait planning.