| Biped robot,due to good ability to avoid obstacle,strong ability to adapt to the environment and high efficiency,is becoming a hot issue.Biped locomotion and biped control are the key skill for biped robot,which directly determine the whole performance of the biped robot.The main content of this paper focused on the motion control of the biped robot,control system,gait planning and stability for the biped robot were analyzed,which gather experience for designing high intelligent biped robot.A 6 DOF biped robot was designed and made in our laboratory.Control system was designed according to the drive mode of the robot and the requirement during the walking process.A distributed control structure was proposed based on QNX real-time system.Based on multi-thread programming,the driver software,communication program and data collection program were designed,which provided the control basement for the biped robot.For gait planning,link model of the biped robot was established and reference frames was given.Then Denavit-Hartenberg theory was used to establish kinematic model and expressions for the positions and angles of joints were obtained,which provided necessary condition for gait planning.Based on the characteristic of the 6 DOF biped robot,the planning model of the gait was proposed and several key parameters of gait in one period was determined.The cubic spline fitting method was used to fit the parameters.Simulation experiments were conducted to validate the effectiveness and practicability of the gait planning model.Finally,the different judge theories of stability were analyzed,the relationship between ZMP(Zero Moment Point)and COP(Center of Pressure)was established,then a ZMP measurement system was designed.The ZMP trajectory was obtained by experiments,which established the basic the theory for further study of biped robot control mechanism. |
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