Gait Planning And Control Of Biped Humanoid Robot

The biped humanoid robot condenses the highest level of robot technology,which reflects the comprehensive national strength of a country to a certain extent,and can also reflect the level of intelligence and automation.With the improvement of manufacturing process and human development needs,it provides a good environment for the development of robots.Humanoid robots have become one of the important directions in the field of robotics research and development.One of the biggest features of humanoid robots is that they can walk through both feet,so gait planning and stability control become the premise for humanoid robots to complete other tasks.This paper takes the gait planning of humanoid robot as the research center.The main reference object for the humanoid robot to complete the action is human.Therefore,before the humanoid robot gait planning,it is necessary to understand the characteristics of human walking.Firstly,the gait analysis equipment and the corresponding software are used to analyze the walking gait of the human body to acquire the characteristics of human movement.Then,the kinematics analysis of the NAO robot of this experimental platform,including positive kinematics analysis and inverse kinematics analysis,analyzes the walking process and stability of the humanoid robot,which is used as the basis of humanoid robot gait planning.Gait planning method based on human gait data,in order to apply gait planning based on human motion data,the joint mapping relationship between the human body and the biped humanoid robot is first determined,and the collected human motion joint data is processed and necessary The kinematics match to overcome the structural differences between humans and robots,and verify the feasibility of the method on the experimental platform.A gait planning method based on a zero moment point and an inverted pendulum model.Firstly,the motion characteristics of the three-dimensional inverted pendulum model are analyzed.According to its characteristics,the gait is decomposed into the motions on two planes(forward plane,lateral plane),and then two planes are designed according to three different stages of gait.The trajectory of the centroid of the inner robot is solved according to the characteristics of the ankle joint in the gait cycle.The geometrical constraint method is used to solve the joint rotation angle,and the trajectory expression of other joints during walking is obtained.For the stability of the robot,according to the data of the accelerometer and the gyroscope feedback,the fusion algorithm is used to detect the inclination of the humanoid robot's torso,and the inclination angle is used to combine the ZMP stability criterion to adjust the gait of the humanoid robot online.Its adaptability to the environment.The gait planning results were verified on the physical object,and the effectiveness of the gait control algorithm was verified.