Design And Experimental Research On The Motion Parameters Of The Walking Mechanism Of Humanoid Robot

In recent years,humanoid robot has been a research hotspot.The emergence of new generation of humanoid robot represents the breakthrough of technology.It is especially important to do researches on the lower limb motion and gait of humanoid robot in the aspect of walking balance.In theory,the traditional method of building motion model can not cover the influence of hip joint and pelvis on the biped of humanoid robot.In order to control ZMP(Zero Moment Point)better in the single support stage of humanoid robot,the improved mathematical model of humanoid robot motion is established.And some angle constraints are imposed on the new model which provides data support and theoretical help for the research of humanoid robot motion mechanism.In this paper,the design and experiment of the walking motion parameters of the NAO humanoid robot are studied.The main contents include:The NAO robot is taken as the research object.The shape and structure of the robot are analyzed,at the same time,the improved D-H parameter method is used to build its motion mathematical model.The author also carries out the forward and inverse motion analysis.The gait control method of robot is studied and analyzed,and several balance control theories are introduced..Targeting the problem that the zero moment point(ZMP)of the contact between the support foot and the ground cannot control the motion of the pelvis and the free foot,the NAO robot with 11 degrees of freedom of the legs is taken as the research object.In the process of motion planning of NAO robot,the motion limitation of pelvis and free foot must be considered properly.The limitation of Bryant angle and the translational motion of pelvis can improve the ZMP control during the single support stage.And meanwhile the rotational motion of pelvis is synthesized to realize the overall control of free foot posture.The method study of ideal gait of humanoid robot is verified by MATLAB.The improved ZMP curve and parameters are obtained by comparing the data and images between the constrained robot and the unrestricted robot.The gait simulation and experiment of the physical prototype of the robot.The gait design of the NAO robot is analyzed through the experiment.Finally,the experiment proves that the gait planning is feasible under the constraint condition.And the ZMP control of humanoid robot in the single support stage is improved obviously under this scheme.