| Biped robot is one of the research hotspots in the field of robotics.The biped robot has the characteristics of complex mechanical structure,complex dynamic equation and high stability control requirements.The stability of its motion cannot meet people's expectations so far,and the running and jumping gait of the biped robot is an important challenge for robot motion control.In this paper,gait planning and balance control research are carried out for the running and jumping motion of biped robot.The state machine of biped robot is designed,the body posture balance and the height balance of mass center in the process of single leg support,the motion planning of swinging leg,and the direction control of robot at low speed.Finally,the running and jumping experiments are carried out on the platform of the biped robot WUKONG-Ⅱ.The main contents of this thesis are as follows:1)A state machine of running gait of biped robot is constructed.The attitude balance controller and altitude controller are designed.The forward process of biped robot is divided into single leg support phase and double leg flight phase.When the robot is in single leg support phase,the controller is designed to maintain the posture of robot body,and the control of the ground reaction force is used to maintain the height of the body mass center.It provides the premise for the robot to move forward with running gait.2)The speed controller of biped robot is designed.Based on the kinematic and gyro-scopic data,Kalman filter is used to estimate the velocity of the center of mass.The trajectory planning and the leg placement control of the swinging leg are described.According to the LIP model control,the leg placement of the swinging leg is used to realize the velocity control of the robot,and the swinging curve of the swinging leg is planned and the gravity compensation during the swinging process is added.3)In order to solve the problem of direction deviation in the process of robot moving forward,the motion planning of the yaw joint of the support leg hip joint is used to realize the direction control of the robot at low speed.When the robot is moving at high speed,the rotation moment generated by the movement of the support leg and the swing leg is balanced by the rotation of the waist joint.The deflection moment of the biped robot is added to the attitude controller of the robot in order to achieve the direction control of the biped robot.4)Experiments are carried out on the WUKONG-Ⅱ biped robot to verify the control algorithm.The validity of the body attitude controller and the center of mass height controller is verified successfully;the more accurate center of mass speed is obtained by using Kalman filter,and the forward speed of WUKONG-Ⅱ robot is controlled by using the leg placement control;the direction control during the robot's forward pro-cess is improved. |
