Small Humanoid Robot Gait Analysis And Online Planning For Obstacle Gait

In the field of humanoid robot movement,the main content of the study is that it can walk smoothly and naturally.At the same time,the ability to adapt to the complex environment improve work efficiency,reduce the incidence of human accidents are also the focus of humanoid robot research.In this paper,based on the research of the humanoid robot walking on the ground,the gait planning and stability are studied under the condition that the obstacles are encountered.This paper mainly research on the small humanoid robot GP2013,analysis of the overall structure of the robot.According to the kinematic representation by Denavit-Hartenberg.establish its forward and inverse kinematics equations and found the limitations of robot in the D-H method,and establish its forward kinematics model in MATLAB Robotics Toolbox.Then,according to the ZMP stability criterion and the calculation of ZMP,put forward a kind of based on ZMP walking pattern generation.In order to solve the problem of walking of humanoid robot in complex pavement,this paper presents a method of geometric constraint of robot gait planning method on crossing obstacle.To establish the kinematics model of robot,through the initial stage of the analysis on crossing obstacle,one foot swinging leg on the centroid effect,calculate the centroid constraint range of robot to ensure stability in the body forward and lateral movement.Analysis of each key stage of the posture of the robot,calculate the change of the key posture of the joint angle,so as to plan the whole process of robot on crossing obstacle.By using the method of three spline interpolation connect,parabolic interpolation makes the transition connection and stable movement of each joint between each key to obtain smooth posture,and get joint trajectory of the robot during crossing obstacle.Finally,according to the three-dimensional model of the humanoid robot,using the evaluation module in the SolidWorks2014 software to calculate the special position of the theory ZMP,compared with the six axis force measuring actual ZMP platform to detect,and through planing adjustment get the ideal robot gait on crossing obstacle,prove the centroid always in it's foot support area on the process of crossing obstacle,thus proved the correctness of the method.