Design And Gait Planning Simulation Of Biped Robot

Leg-foot robots have become a hot research topic for robotics researchers all over the world because of their ability to walk on all terrain and their special significance in biology.Since the 1980s,universities and research institutes in the United States and all over the world have begun to study foot robots.Leg-foot robots include quadruped robots that mimic the way reptiles walk,biped robots that mimic the way humans and birds walk.However,due to the special posture balance mechanism,biped robot has become a more difficult research object in the research of leg-foot robot.At present,the research of biped robot is not very mature.At present,many scholars'research on foot robots is based on ready-made simulation software.However,for the use of existing simulation software can't know some parameters of the overall internal calculation process,for the dynamic motion control algorithm of the robot,it is often necessary to predict the trend of the motion of the robot.At the same time,a biped robot platform that can move flexibly is also very important for the implementation of robot algorithm verification.In this regard,this paper carries out the following work based on the above two issues.Firstly,the dynamic simulation software of the robot is written by using MATLAB script.The mechanical model of five-link robot with five joints is established(the feet contacted with the ground are treated as a joint),and the inertia attributes of the parts are added to the model.The Newton-Euler iteration formula is used to derive the dynamic operation equation of 5-joint robot.The formula is modified to restrict the remaining two rotation angles of each joint,simplify the operation matrix and optimize the operation process.Secondly,according to the size of the connecting rod in the simulation software,the crank-rocker mechanism is designed as the leg transmission mechanism of the robot.The parts of the robot are designed by using the three-dimensional drawing software.The inertia attributes of each part of the robot,including mass,gravity center and inertia tensor,are calculated by using the calculation function of the three-dimensional software.The hardware and software system of the embedded control system of the robot is designed,the printed circuit drawings are drawn,and the welding circuit of the control board is processed.Write the code of each sensor data acquisition module and the main control code.In the Ubuntu system,the upper computer software is compiled,and the communication protocol between the lower computer and the upper computer is designed and compiled.Then,according to the motion mode of semi-passive biped robot,the gait planning method of the robot is designed by using acceleration gradient method and force action time adjustable method.Using the designed dynamic simulation software,the gait planning adjustment method is experimented.The data of the relationship between the leg torque regulation and the movement output are collected.The functional relationship and parameters between them are obtained by fitting the first and second order regression equations.Finally,using PID algorithm and cascade PID to do the motor angle trajectory tracking experiment,and then improving the PID algorithm to make the angle tracking smoother and reduce the acceleration caused by incarton in the process of motion.