Gait Planning And Control Of Biped Robot

Biped robot,which is most close to the characters of human beings in the robot research,has a widely application for human beings and it can participate in some dangerous work instead of humans.Thus,many governments pay more attention to the control system research of biped robot in recent years.Gait planning and joint control as the most significant portion of biped robot'scontrol systemhave a decisive role in stable walking.The research of gait planning and joint control for biped robot of this paper were as follows:1.This paper set NAO robot as the reference model and adopt the NAO robot'ssimmechanics technology parameters as the reference data.Then,the kinematics model for biped robot is established and the kinematics model was simulated and verified in simmechanics.2.Based on the analysis of the human'swalking characters,the walking process of biped robot was planned.B-splinedifference algorithm method is applied to predict the forward swing and lateral swing motion of the biped robot's hip,knee and ankle.3.Owing to the B-spline difference curve is the sub-optimal trace,particle swarm optimization is applied for planning the optimal trace of biped robot's joints with the restraints of speed,accelerated speed and second acceleration of joints.4.This paper reviewed the walking control strategy of biped robot and introduced a joint control of biped robot by adjusting the location of the swinging point and calculating the converse angle of the joint.The design of controller is based on normal PD controller and join with the compensation control to realize feedback compensation of PD controller and control the biped robot's joint.5.With the time-optimal joint curve of biped robot,the NAO robot model and environment model were established by Webots simulation platform.The established controller model with the trace of all joints realized biped robot walking and verified the effectiveness of the planning joint curve.