Gait Planning And Anti-push Algorithm Of Biped Humanoid Robot

With the development of society and the improvement of people's living standard,the application of robot is more and more common.Biped humanoid robots have good adaptability to the environment,which is also a technical difficulty that biped humanoid robot can not be achieved in large-scale application at present.The traditional gait planning methods of biped humanoid robot include zero moment point(ZMP),linear inverted pendulum principle(LIPM)and central pattern generator(CPG).However,the movement ability of biped robot is still not improved very well,and it does not have the ability to adapt to the environment,especially the adaptability under the external force disturbance.Based on the former research results,this paper constructs a biped humanoid robot model with 20 degrees of freedom by using the linear inverted pendulum model(LIPM)as the theoretical basis and the principle of kinematics and inverse kinematics solution,and makes a gait simulation and obtains a stable gait planning of a small biped humanoid robot.Taking the existing real biped humanoid robot as the experimental carrier to achieve the gait simulation and the physical verification.Additionally,a more stable gait planning method of bipedal humanoid robot is obtained by improving the trajectory of foot end motion planning during the experiment.In view of the unstable factors caused by the insufficient torque of the steering gear in the physical verification,the control angle of the steering gear is compensated by using numerical compensation,and improved the algorithm of applying in the physical robot,and through testing in different ground environment to verify the reliability of the improved algorithm.In order to further simulation that the humanoid robot is pushed by external force during the application process,based on the principle of capture point,this paper carries out principle analysis and the physical verification under a simulation environment when the humanoid robot under the situation that is pushed by external forces,and obtains the simulation experiment that the humanoid robot can recover its standing state after being disturbed by the thrust under the standing state.It shows a perfect result and verifies the reliability of algorithm.