Design And Research On Control Method Of The Passive Dynamic Walking Machine With Bisecting Upper Body

Conventional automatic walking robot achieved humanoid walking by precisely controlling the walking robot joint angles and body posture. This control method makes robot gait cumbersome and excessive energy consumption. It has been a long-term constraint robot development problems. Based on the theory of passive walking and design, the robot can fully rely on its own dynamics, making the walking gait naturally, achieving low energy consumption, thus providing a new direction. Currently passive walking research focuses on theoretical research with relative few prototype model be developed. To cope with it, this article based on the Wisse belt upper body passively walk model developed a new belt in passive walking robot prototype.Firstly, this article uses the Newton-Euler method to derive of the mathematical model, the model results the swing phase and collisions kinetics equation. By changing the model parameters in dynamics simulation found that the parameters have different effects in modelgait, speed, step length and stability. All of those discover will provides a referencefor the later development of the prototype.Secondly, use the features of bevel gear structure design the hip structure, successful solve of bisecting upper body. This design had actively driven lower body structure, with hardware and software control unit, built of a passive walking robot prototype with upper body, knee and ankle joints.Then, use synthetic methods obtained robot's gait. According to the motion characteristics of servo motor, it proposed to control the motor target output angle method, together with timing status polling mechanism, managed to control robot gait.Finally, by adopting Webots method to simulate, it verify the feasibility of the overall design. The simulation results by adjusting walking parameters to achieve the physical prototype stable walk on the ground, further validates the correctness of the designed prototype robot.This thesis explore the research on passive walking from theoretical analysis to prototype areas. By introducing the bevel structure to solve the problem of sub-prototype upper body, it can simplify the difficulty of controlling the robot. Single driver solution can realize two joint rotating simultaneously, improve walking efficiency, and reduce design costs. Based on gait synthesis, article proposed the research method of robot walking gait, together with the output of the motor target angle control method and timing of state polling mechanism, the effective implement and solve of the robot walking control.