Gait Planning And Experiment Research Of Two-point-foot Walking Robot

This paper studies gait planning of Two-Point-Foot walking robot and some experiments are conducted to verify it.Firstly,a kinematic model is established according to the theory of Two-Point-Foot walking and a simulation model is built by a mathematical tool.Secondly,hardware and software construction is carried out to perfect the robot system.A hydraulic reservoir is added to improve the stability and reliability of the hydraulic system.Hardware circuit and software are designed to make the robot have the ability of control,driving,sense and communication.Thirdly,joint trajectories are achieved by gait planning:Some constraint conditions are proposed to calculate the angle of different joints in the beginning,the moment of COP switch,the ending of a walking period.Thenjoint trajectories are obtained according to cubic spline interpolation.Next,a kind of walking control method based on pitch angle of the robot is presented.At last,offline trajectories are designed and simulated.Finally,different experiments are carried out to verify the gait planning and the robot prototype performance,including experiments of different gait parameters,experiments of offline and online,experiments of different speeds.Experimental results show that the gait planning method can control the balance of the robot and adjust the walking speed in real time.The proposed gait planning method is feasible and worthy of promotion.