Research On Gait Stability And Application Of Dance Robot

With the progress of science and technology,bipedal dancing robot has gradually become the main research object of artificial intelligence robot.It not only integrates control theory,bionics,electronic technology and other disciplines,but also applies to different learning fields.The motion mode of bipedal dancing robot is a hot research topic.Among them,gait movement is the most basic and core movement mode,which is a big challenge for dancing robot with more degrees of freedom.In this paper,the zero moment point is selected as the stability criterion of the robot,and the influence of the stability margin of the robot on the stability is analyzed.Then,the forward and inverse kinematics of the robot is modeled,and the trajectory planning of the hip and ankle joints of the robot is performed based on the time-series gait planning method.Taking step size as the independent variable,the trajectory of ZMP under non-synchronous length is obtained through matlab simulation,and stable gait planning parameters are selected through comparison.After that,the forward kinematics equations of the hip and ankle joints are re-improved according to the planned joint angle directions,and the effectiveness and feasibility of the gait planning are obtained through further simulation verification.Finally,combined with the genetic algorithm,the maximum stability margin is taken as the objective function,and the ZMP always satisfies the stability range during the gait process as a constraint condition to obtain the optimal solution of gait parameters and the ZMP motion trajectory under the optimal solution.By comparing the ZMP trajectory before and after optimization,more stable gait planning parameters are obtained.Based on theoretical simulation verification,this paper chooses a more intuitive way to apply the optimized gait parameters directly to the actual physical prototype.It is observed that the robot is able to perform stable walking movements according to the planned gait,and the corresponding experimental screenshots are shown.This experiment applied the optimized gait planning to the robot,reasonably verified that its walking is more stable,and the research results are more rigorous and accurate,which also laid a solid foundation for the study of robot gait in the future.