Research On Gait Planning And Simulation Of Biped Robot Based On Pro/E And Adams

Biped robot is one of the hot research directions in the field of intelligent control in recent years.It integrates mechanical technology,electronic technology,control engineering,bionics,artificial intelligence,material science and other disciplines.It reflects the level of intelligence and automation of a country,and it is an important symbol of the country's cutting-edge scientific and technological strength.Stable walking is an important basis for other extended functions of biped robot,so gait planning is the key to the research.Aiming at the problem that the biped robot is unstable and easy to dump when walking,in this paper,gait planning is carried out by combining cubic spline interpolation method,and PSO algorithm was used to optimize the gait.The specific work done in this paper is as follows:Firstly,the research background and significance of biped robot are introduced,the research status of biped robot at home and abroad are analyzed,and then the content and structure of the chapters are given of this paper.Secondly,the size of the biped robot studied in this paper is designed based on the human body structure.The mathematical model is established by D-H matrix method,and the degree of freedom is assigned.Then the forward kinematics equation is derived and the robot model is divided into forward and lateral directions to solve the inverse kinematics.Thirdly,the gait planning method based on ZMP stability criterion was determined,and analyzes the overall walking process of biped robot cycle walking.Then based on the forward model and the lateral model,the forward and lateral gait planning of biped robot are carried out by using cubic spline interpolation method.The joint trajectories and ZMP trajectory are simulated by Matlab,and the comparative analysis between the planned ZMP trajectory and ideal ZMP trajectory is given.Furthermore,the influence of the position of the hip joint on the stability margin is verified and the gait optimization method based on PSO algorithm is presented.The gait of the robot is divided into the single-foot support period and the biped support period.The stability margin is used as the parameter to construct the target function.Combined with the gait optimization process of the PSO algorithm,the two adjustable parameters of the hip joint were optimized and simulated to obtain the optimal solution.Finally,using modeling software Pro/E and virtual prototype simulation software Adams to build the 3D model,then build the lower limb virtual simulation structure.The validity of PSO optimization algorithm was preliminarily verified.At the same time,the optimized result is applied to the physical prototype,the experimental result shows that gait planning and algorithm optimization in this paper can achieve better control effect of walking stability and improve the walking stability of the robot effectively.