Research On Gait Planning And Control Of Humanoid Robot Based On Human Motion Data

The humanoid robot is a humanoid shape that mimics the human perception of the world and makes human-like feedback.Compared with other robots,humanoid robots have higher adaptability and intelligence,and will play an irreplaceable role in future production and life.Stable walking is the premise that the humanoid robot realizes other functions and exerts its characteristics.The human bipedal walking style is perfect in the world biosphere relative to other organisms,making the individual's metabolic consumption lower.By collecting human motion data and analyzing the walking characteristics of human beings,gait planning and control of humanoid robots can not only reduce the complexity of research,but also make targeted research on human walking patterns,which has broad application prospects.This topic is expected to make efforts for the proposed or improved gait planning and control methods of humanoid robots.The main research contents of the thesis include:(1)By consulting well-known journals,the research on the development status of the research object of this subject,including mechanical structure and degree of freedom design,gait planning and control methods,etc.According to the advantages and disadvantages of domestic and foreign humanoid robots,the overall design of the robot is proposed according to local conditions,which including control systems,drive systems,communications and feedback systems.(2)The kinematics analysis is based on the characteristics of the humanoid robot and the dynamic modeling is established based on the kinematic model.The motion model is established by the D-H method,and then the dynamic model is established by the Newton Euler method.(3)The human walking data is obtained by the limb posture sensor,which mainly involves the human upper limb shoulder joint and the elbow pitch axis,the lower limb hip joint and the knee joint pitch axis motion data,and is fitted according to the exercise data to obtain a motion function,extract the human gait characteristics and perform gait division and gait planning.(4)The established model was used for stability control studies.In the start-up stage,the model established by Newton's Euler method is used to plan each joint motion curve according to the planned ZMP;during the cycle step,for the lateral rocking motion,according to the dynamic energy conversion and collision model,periodic dynamic control is performed;To the forward motion,based on the expected ZMP dynamic compensation is evacuated through the ankle joint.(5)By experimenting on the physical robot,according to the robot sole pressure feedback system,the rationality of the robot planning,the correctness of the model establishment and the effectiveness of the control method are established.