Gait Planning And Research On Stability Of Biped Humanoid Robot

Biped humanoid robot,also known as humanoid robot,is favored because of its humanoid shape and anthropomorphic action,and the research on its control method has long attracted science and technology workers.It has developed rapidly over the past four decades and has a very broad future for development.This article has designed a biped humanoid robot: ROBOT-?,and conducted an in-depth study on gait planning and stability of it.The most striking feature of the biped humanoid robots is the ability to imitate human walking,which makes they have more advantages in real environment.But in order to achieve many complex functions,biped humanoid robots must have stable walking abilities first.So it has a great meaning to research on the gait planning and walking stability of biped humanoid robot.The article introduces the physical structure and the control system of ROBOT-?,and mainly researches on gait planning and stability control of ROBOT-?based on models.Gait planning and generating walking mode are operated based on the kinematics modeling of the biped humanoid robot.Consists of gyro and accelerometer,the IMU unit is used to detect the attitude information of the robot,which contributes to the feedback controlling.By correcting the gait generated offline,the robot gets stronger environmental adaptability.At the same time,taking into account the offline planning method cannot modify the planning method itself online.In this paper,a new gait planning method based on optimal search is proposed.Firstly,the trajectory of the ankle joint is obtained by polynomial fitting according to the position of the ankle joint in the walking process of the biped humanoid robot,and then combined with the planned ZMP Trajectory,the trajectory of the hip of the robot is planned by optimization method by using the constraint condition of the hip joint,so that the gait planning of the biped humanoid robot in the whole walking cycle is obtained.In order to improve the speed of online planning,improvements of the optimization method are made.Simulation results show the feasibility of this gait planning method.Based on the gait planning algorithm obtained from theoretically research,experiments are operated on ROBOT-?.The result shows that this gait planning algorithm can make the robot walk stably,and it has a strong ability to adapt to the environment.