Collision Problem And Stability Analysis Of Large-scale 17R "Kato Ichiro" Humanoid Robot

In recent years,intelligent robots has been a hotspot in the field of robot research.At present,some humanoid robots developed at home and abroad,while achieving a stable walk,but want to achieve a more natural,flexible and stable gait is still the goal of many scholars in this field,which must be in-depth analysis of human walking robot walking characteristics.In this paper,we focus on the important problems of "Kato Ichiro" structure robot stability gait walking.Based on the three-dimensional design method,the large-scale 17 R "Kato Ichiro" structure humanoid robot is designed and fabricated,and the experimental physical platform of the robot 's steady gait walking is set up,which lays the foundation for the dynamic analysis.Based on the mass-spring-damping dynamic model,the kinetic differential of the robot is obtained by using the mass-spring-damping model system to establish the three-degree-of-freedom mechanics model of the intermittent collision of the humanoid robot with the ground.equation.In order to solve the kinetic differential equation,DSP + FPGA is used as the core processor of humanoid robot,and VC system is used to compile the host computer software.The software of the host computer is used to collect the robot motor Rotating the value of the humanoid robot to achieve the stability of gait walking,the use of pressure sensor FSR acquisition of the human face of the robot's foot external excitation signal.The general solution of the differential equation is obtained by using the regular modal superposition method,and the conditions of the cycle of the robot intermittent collision system are obtained.Using the MATLAB digital simulation,the cyclic motion,Hopf-filp residual bifurcation,Hopf-pitchfork two-bifurcation of the robot intermittent collision system and the complex dynamic behavior of the chaotic road are analyzed.Through the analysis of the dynamic behavior,controlling the harmful chaos phenomenon,optimizing the design and improving the existing humanoid robot model,which embodies the application value of the chaos in the humanoid robot.Finally,by using the ADAMS software,the STEP function is applied to the "Kato Ichiro" structural robot for gait simulation,and the influence of the dynamic parameters on the stability of the humanoid robot during the walking process is analyzed.The large 17 R "Kato Ichiro " structure of humanoid robot gait stability.