Research On Gait Optimization And Stability Of Dynamic Biped Robot

Biped robot not only has a structure similar to that of human body,but also its mode of motion is similar to human walking.It is a comprehensive technology product with mechanical structure,driving mode,sensors,information and communication,movements and so on.Biped robot broadens the human range of activities and completes the task that cannot be finished by people,it has an indispensable researching value.The biped robot technology has a wide range of applications.It has been applied in many industries such as education,medical care,entertainment,aerospace and many other fields.It has a very great relationship with the development of science and technology,and closely linked to the improvement of the engineering level.Its development prospects are very broad.The movement mode and walking stability of biped robot are difficult,so the research of the biped robot has a significant meaning and practical value.However,after comparison,it is found that the research level of biped robots in foreign countries is far higher than that of domestic ones.Moreover,gait planning for biped robots is mostly limited to the time sequence planning and interpolation of joint parameters.The study has limitations that are not deep enough and based on the inverted pendulums,which most of the researchers are overly appealing to a solid platform.As to the demonstration of the moving mode of the research on computer simulation,the further analysis of the walking gait or comparison and optimization with other planning methods are not enough.Based on the investigation of many literatures at home and abroad,this paper studies the gait planning and the stability of biped robot.The main contents include the following aspects:The first is to study the kinematic characteristics of robots,establish biped robot's kinematics model and D-H model in generalized coordinates,and simulate the simplified robot model in single-leg and double-leg support period.Then the kinematic and easy controlling model can be acquired.Then,according to the factors that affect the walking stability of biped robot,the condition of walking stability is obtained by using the formula of ZMP zero moment which reflects the dynamic stability of robot.After that,the biped robot's walking mode was planned by using time construction method,space cubic spline interpolation method and inverted pendulum method,for which respectively to get the biped robot's walking attitude.Finally,a co-simulation platform is setting up,and the joint simulation is carried out by MATLAB and ADAMS mechanical dynamics simulation software,in order to compare the walking status and biped robot stability under three different gait planning methods.Observing the trend of the movement of important components from the postprocessing module of the simulation results,and comparing the derived ZMP curves,it was found that the effect of the simulating inverted gait planning of the inverted pendulum was obviously better than that of the ADAMS alone,with spline and interpolation simulation methods.