| Biped robot's dynamic walking control is one of the key research directions in the field of robot research,and it is also the basis for practical application of biped robots.They are better suited to help humankind in human life and work environments than crawling,tracked and wheeled robots,and can even perform high-risk tasks in place of humans.However,biped robot possesses the characteristics of complex system,strong coupling and complex kinematics solution.Therefore,if the bipedal robot is to be put into practical production and life,a reliable robot control system is needed to provide a guarantee for the stable walking of the robot.This paper selects the gait stability control for biped robots as the research goal,and studies the hardware design,software flow control,data calculation,wireless control and upper computer debugging of biped robot gait control system.In order to improve the response rate and control accuracy of the walking erratic behavior of biped robots,overcoming the problem of using the gyroscope for attitude measurement and control can not fully describe the robot's motion state,thus causing the control lag.An optimized attitude algorithm is proposed,which is the biped robot attitude control algorithm with gravity components removed.Finally,the overall effectiveness of the gait control system is verified by experimental prototype.The following aspects have been studied in this paper:1.This article has designed the hardware of the gait control system.The hardware part adopts TMS320VC5509 A as the core of the system.It consists of a power module,a servo control module,and a sensor data acquisition module.It also explains the design scheme and principle of each circuit module.2.In this paper,a complete software flow of the control system is achieved.The entire process includes data acquisition timing control from infrared ranging sensors,inertial sensors,and pressure sensors,and the speed and angle control of each servo of the robot according to the data after the attitude is solved by the DSP,and finally completed according to the designed flow chart.The preparation of the corresponding program code.3.This article designed the wireless control system and PC debugging software.The wireless control system uses the radio frequency module to realize the human-computer interaction and can control the walking mode and posture of therobot.PC debugging software is to solve the tedious parameter calculation process in the process of robot debugging,the use of PC software written in C # can be real-time observation of the robot's current posture data.4.This paper optimizes the biped robot attitude control algorithm.Aiming at the shortcomings of using the accelerometer to correct the data drift of the gyroscope and reusing the gyroscope to obtain the attitude data of the robot angular velocity and angle data,the degree of data fusion is not high.The RCG(Remove the components of gravity)attitude control algorithm is proposed.The acceleration is introduced as one of the parameters of the attitude solution and the stability criterion.The algorithm can detect the attitude deviation in time and improve the stability of the robot gait.5.The experiments of biped robot control system are carried out.The experimental data shows that the gait control system designed in this paper is practical and can achieve the goal of stable forward movement through timely attitude adjustment on rough terrain and under impact. |
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