The Gait Planning Of The Biped Robot

With the rapid development of artificial intelligence technology and Intelligent manufacturing,robots have been widely used in all areas of our lives.Bipedal robot has the characteristics of high flexibility and strong movement ability which has a broad application prospect.However,due to the complex structure and high coupling degree of the biped robot,the gait walking is rather easy to be disturbed by the external environment,so the fast and stable gait planning method is particularly important.Therefore,it is of great significance to study the gait planning method of the biped robot.Currently,Alpha EBot of UBtech company adopts the gait planning method of 3D LIP(Linear Inverted Pendulum),which is slow and inefficient in walking speed and cannot meet the requirements of fast walking.This thesis studies the bipedal robot gait planning and the swinging leg trajectory planning,based on the analysis of the original Alpha Ebot gait planning method,to investigate the feet support phase time and optimize the swinging leg movement,so as to improve the robot walking speed and stability.The main contributions of the thesis are as follows:1.Propose an optimization method based on 3D LIP gait planning: The structural characteristics and system capability of the target robot are comprehensively discussed.The supporting time of the bipedal robot during two legs standing is shortened and the optimal position of the standing legs have been studied to improve walking efficiency and stability.2.Propose a method to optimize the motion path of swinging leg based on Bezier curve: The influence of the swing leg trajectory on the gait walking stability of the bipedal robot is analyzed.Newton tangent method is used to solve the interpolation points of the track of swing leg in the x direction of Bezier curve with uniform motion,so as to maintain uniform motion in the x direction of the swing leg and reduce the problem that the robot is prone to fall with walking fast.3.Test the proposed gait planning algorithm on Alpha Ebot: The optimization method of the gait planning based on 3D LIP and the path optimization of the swinging leg based on Bezier curve are tested for the gait walking of the Alpha Ebot.