Indoor Enviroment Biped Robot 3D Map Based Gait Planning And Contorl

With the progress of drive and sensor manufacturing technology,biped robots with high performance drives and high precision sensors have been able to walk steadily.In addition to the technical research on biped robots in universities and scientific research institutes,bipedal robots are widely used in educational and competition activities in the field of education competition.In this paper,two aspects of motion planning and location navigation are studied.It is hoped to combine the gait planning technology and SLAM technology based on the linear inverted pendulum model to enhance the motion ability and environmental perception ability of the small biped robot,so as to achieve more patterns of movement.In motion planning,the linear inverted pendulum model based on the planar biped gait planning and steering gait planning.The software simulation,different gait planning parameters were tested,compared the biped walking gait planning and motion effect.At the same time through the simulation,the robot joint torque-speed performance requirements for robot hardware information.Aiming at the steps and slopes,a gait planning method suitable for the two kinds of terrain is proposed.The experiment verifies the effectiveness of the planning method.The walking gait can be obtained by changing the planning method and testing the planning parameters.Based on the open source SLAM program ORB-SLAM,a robot location and navigation system is built.By improving the map storage,transforming 3D map and 2D map and improving the way of path planning,the construction of low cost positioning navigation system for small biped robot based on visual SLAM is completed.Using Intel sr300 camera,Robotis mx28 actuators and intel Up Board single board computer hardware,a biped robot prototype was built.Using the biped gait planning method and positioning navigation system,autonomous navigation and obstacle avoidance are realized.