Research On Walking Control Method Of Humanoid Biped Robot

The research of humanoid biped robot is a key content in the field of robot research,which involves many subjects.The human-like biped robot can help or even replace many humans to perform many dangerous or labor-intensive tasks.Because the human-like biped robot is a high-order,complex,nonlinear system,the research on its control methods still exists many difficulties and challenges.There are many aspects of work still to be completed.In this paper,a prototype of a humanoid biped robot is designed for a new type of humanlike biped robot project,and the walking control method is studied.Firstly,with reference to the human leg structure,a 10 DOF humanoid biped robot prototype mechanical structure was designed by SolidWorks.ANSYS was used to analyze the key components.Based on the mechanical structure of the robot,the layout of the robot control system are designed.Secondly,the model corresponding to the mechanical structure of the robot is established.The corresponding joint coordinate system is determined.According to the DH rule,the forward kinematics model of the robot is derived.The inverse kinematics model of the robot is solved by geometric methods.Thirdly,aiming at the large proportion of leg mass of human-like biped robot,a model considering the distribution of leg mass is proposed,and a corresponding gait planning algorithm is designed based on the model.The gait algorithm proposed in this paper is used to plan the walking attitude of the robot,and the motion of each joint of the robot is obtained by polynomial interpolation method.The human-like biped robot model is constructed in the V-REP environment.The MATLAB is used to calculate the parameters and control the robot.The rationality and feasibility of the gait planning and control algorithm are verified.Then,after determining and analyzing the requirements of the humanoid biped robot control system,the key components were selected,and the circuit of the microcontroller,the bus-based servomotor control module circuit and the power module were completed.The layout and routing of the PCB drawings of the control system hardware were completed,and the fabrication and soldering of the system hardware circuit board was finally completed.In the design process of the software system,the requirements of the robot system software platform are analyzed,and the overall architecture of the software system is designed.The detailed design of each program module in the architecture is carried out.Finally,the corresponding experiments were carried out on the designed human-like biped robot platform.The response characteristics of the joints of the robot and the interference between the robot parts were tested by the attitude experiment.Through the walking experiment,the gait algorithm designed in this paper is used to control the robot to complete the walking process in the actual environment,and the data of the robot walking process is collected by the pressure sensor and the acceleration sensor.The experimental results show that the gait algorithm designed in this paper is feasible.