Research On Geodesic Method For Energy Optimal Gait Of Humanoid Robot

Humanoid robot is one of the most important research fields.The stable walking of humanoid robot is the premise to realize its various functions,so gait plays a very important role.In this paper,we take the robot simulation model as the research object,and use geodesic method to get the optimal gait of humanoid robot.Firstly,the humanoid robot is abstracted as a three-dimensional linear inverted pendulum(3D-LIPM)model,and a new method is proposed to optimize the energy of the biped robot.Based on the three-dimensional linear inverted pendulum model,the energy Riemann measurement matrix is constructed.Use of short geodesics,by solving the Christopher symbol,establishing and solving the geodesic differential equations,the robot centroid energy optimal trajectory is obtained.Through the inverse kinematics solution of humanoid robot model,we can get the optimal gait.Furthermore,the trajectory is studied by controlling variable method.Secondly,based on the relevant parameters of the inverted pendulum model and the requirements of walking conditions,the UG model is used to construct the humanoid robot leg model.The kinematics and inverse kinematics of the humanoid robot are obtained.The angular velocity and linear velocity of the center point of the 3D linear inverted pendulum are calculated,and the Jacobi matrix is calculated.The angular velocity of joints can be deduced.In the gait planning of humanoid robot,the motion process was decomposed according to the inverted pendulum model by using polynomial interpolation method,which can map out the pose of humanoid robot legs.Then make a plan of each robot joint angle,and plan the joint angle with MATLAB.Then,the three-dimensional biped robot model is imported into ADAMS in UG.The kinematics of the biped robot is analyzed,and compare the joint torque under geodesic planning with joint torque under trapezoid function.It is concluded that geodesic method can optimize energy consumption.Finally,the Alpha 1s robot is taken as the experimental platform,and its motion control and implementation are carried out.The experimental results verify the feasibility of the geodesic based gait planning method in this paper.