Designing Important Part Of Humanoid Robot Leg With Walking Simulation

Humanoid robot has a strong ability to adapt itself to not only the complex terrain and the harsh environment, but also the living environment of human beings. The structure design is the basic for the further research. In this paper, analyzed the current development at home and abroad. The leg structure and gait planning was researched based on solve the insufficient motion ability problem.First of all, the degree of freedom and the dimension of the different parts was designed based on the human being's joints and the structure of human being's bones. In this paper the humanoid robot's gravity, inertia, stiffness was researched, the superiority of mechanical structure was verified. After analyzing the common drive's advantages and disadvantages, the suitable drives was chose. For the uncertainty of external environment factors, the variable stiffness of joints has been put forward.Secondly, the key parts of the humanoid robot leg structure was designed. After studying the characteristics of each leg joints and the function and demand of the hip joint, it adopts the modular design to reduce the volume of the joints. Considering the shock impacts of the knee joints, the design thought of the active variable stiffness was adopted to reduce the uncertainty of the work environment. The method of topology optimization was employed in order to reduce the weight of the legs. Besides, it also uses the FME to test reliability of structure of the legs.Thirdly, according to the character of humanoid robot ontology structure, the two-dimensional mathematical model of the inverted pendulum was calculated. It made the off-line gait planning according to the characteristics of the gait walking of humanoid robot. The stability of the gait is verified by ZMP method.Finally, an experimental platform for the biped robot was set up, not only verifying the rationality of the mechanical structure and the gait planning, but also getting the result of the humanoid robot joint torque and speed change curve, which provided the basis for the selection of the drive.