| Humanoid robots have human-like shapes and are often seen in science fiction movies such as Transformers,Chappie and Westworld.The emergence of robots began in the industrial robot,from the mid-20 th century into the commercialization,a large number of industrial production lines for welding,painting,assembly and so on.The research of humanoid robot began in the 1960 s and 1970 s.Although the research time is short,the development is very fast.Humanoid robot is designed to imitate the bone and muscle structure of human body,with more than 20 degrees of freedom of complex structure,so it took a long time to enter the public view.At present,the key technology of humanoid robot is mainly mastered in the United States,Japan,Germany,France and other countries.However,humanoid robot is a nonlinear system with multiple degrees of freedom,complex structure and strong coupling.Therefore,this paper analyzes the existing problems of the robot and studies the overall structure and gait control algorithm of the robot.The main contents of the paper are:(1)Humanoid robot controller designThe humanoid robot of this subject adopts the design idea of separation of master-slave control.The main controller is the PICO-HC101 industrial motherboard,and the slave controller adopts STM32 controller.The main modules also include: servo,sensor,speaker,web camera and so on.The steering gear adopts DYNAMIXEL MX-28 as the actuator of the robot.According to different communication methods,it is divided into two kinds of servos,MX-28T(TTL)and MX28R(RS485).They have the same performance and functions.This machine uses MX-The 28 T digital steering gear is used as the drive unit.The sensor module is mainly a gyro sensor and an acceleration sensor,and is responsible for collecting pose information of the humanoid robot.The speaker module is mainly designed for the voice play function of the humanoid robot.The web camera is used to collect image information and realize the function of the humanoid robot to track the ball.In the software structure,the upper layer to the lower layer are divided into a main control module,a motion control module,and an execution module.(2)Humanoid robot steering gear designThe steering gear is the driving module that the robot can move.Humanoid robot is a multi-degree-of-freedom complex system,so the selection and design of steering gear are related to whether the robot can walk or not.This paper compares the advantages and disadvantages of various steering gear,and selects MX-28 T digital steering gear produced by Korean ROBOTIS company for this design.In addition,the control design and software design of the steering gear are carried out,and the final debugging is successful.(3)Research on gait planning and algorithm of humanoid robotThe gait control algorithm of humanoid robot is studied based on its hardware structure.Firstly,according to the D-H(denavit-hartenberg)model diagram,the connecting rod coordinate system of each joint in the world coordinate system is established.Secondly,the forward kinematics and inverse kinematics models of humanoid robot are derived on the link coordinate system model.Then,the expression is derived according to the stability criterion of ZMP(zero moment point),and the gait planning of humanoid robot is simulated through the control of three-dimensional linear inverted pendulum,and the model is established for the subsequent optimization of humanoid robot gait.By studying the control of the steering gear,this paper proposes a gait generation method based on motion frames,which decomposes the motion of the humanoid robot into multiple frames during the walking period,and saves the steering gear parameters of each frame on the specified page and plays them in the specified time,thus realizing the walking of the humanoid robot.Experiments show that this method can realize humanoid robot walking,and has certain theoretical reference value and practical application value. |
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