Research On Gait Planning And Performance Analysis Of Biped Robot

The biped robot not only is a research hotspot,but also is an important research direction in the field of robot.It has better human walking characteristics and higher flexibility than other mobile robots.The best walking strategy has become the hotspot of research,and gait planning is the fondation of achieving stable walking strategy.In this paper,the gait planning is carried out based on the inverted pendulum model,and the optimal walking strategy is found in the range of stability function and energy consumption function standard.At the same time,a certain range of speed and friction coefficient is used to fund the best strategy.In this paper,the kinematic model of the biped robot is established based on the physical prototype of the laboratory.According to the characteristics of the biped robot,the biped robot is simplified into an inverted pendulum model for gait planning.And the motion trajectory of each joint of the robot is calculated by the theory of inverse kinematics.A feasible evaluation function is designed to evaluate stability and energy consumption.Which provides a theoretical basis for the stability and energy consumption of the walking strategy of the simulation model under different working conditions.Based on ADAMS kinematics simulation,the stability parameters of the robot according to the formula of the stability index of the design to calculate the stability parameters of the robot under different friction coefficient.The single factor analysis method is used to analyze the walking speed and the ground friction coefficient of the stability of walking law.It is concluded that minimum coefficient of friction is required to maintain the stability of the robot.Below the minimum friction coefficient requirements,the stability of the robot to reduce the rate of stability.In the condition of same friction coefficient and the minimum requirements which meets the stability of the situation,when the speed of robot is higher than normal,stability will accelerate the decline.In this paper,which is study for the robot in a certain speed range and the scope of the ground wiping the best range of friction,when the speed is 200mm/s,the friction coefficient will above 0.6.And setting up the stability experiment to prove the rationality of the design function and the validity of the simulation results.Based on the combined simulation of ADAMS and MATLAB,the results of post-processing such as moment variation curve and joint angular velocity of each joint are obtained.And based on different conditions,the extracted parts of the joint torque and joint angular velocity was fitted.At the same time,according to the design of the energy consumption function to calculate the different speed and friction coefficient of energy consumption.The effect of different walking speed and different friction coefficient on the pedestrian energy consumption of biped robot is analyzed by single factor method.At the same time,with the analysis of the stability of the front,in the condition of robots are at the same speed,when the stability of the need to achieve the minimum coefficient of friction,the friction coefficient will lead to reduce energy consumption increases.When a certain friction coefficient is reached,the coefficient of friction is basically the same.When the minimum standard required for stability is reached,the rate of increase in energy consumption exceeds a certain speed.Meanwhile,in the study that the walking speed is between 50mm/s and 250mm/s and the ground friction coefficient is between 0.3 and 0.7,the friction coefficient will over 0.6 when the walking speed is 200mm/s.In the condition of the robot to maintain energy consumption growth rate changing few,achieving the highest speed.Therefore,for the high efficiency of work,meanwhile combined with the stability of the front of the robot to maintain a certain stability premise to improve the efficiency,and the best walking speed is 200mm/s.At the same time,setting up energy consumption experiment verifies the rationality of the design function and the validity of the simulation results.