Design Of Controller For Biped Walking Robot

Based on the prototype of the biped robot developed in the laboratory,robot controller is designed in this paper,which is applied to the prototype for an in-depth study on the prototype and makes an in-depth study on the motion planning algorithm of the biped robot.The structure,driving mode and sensing system of the robot prototype are introduced,and puts forward the design principle of the controller.Based on the above content,the module architecture of the controller is designed,and the communication mode among the modules in the controller is determined,including Wi Fi,Ether CAT and CAN.The specific functions of each module of Ether CAT are analyzed.STM32 processor and u C/OS-III operating system are sampled as the controller development platform.According to the above scheme,the robot motion control task is designed Current process.The kinematics model of biped robot is established by D-H parameter method.On the basis of kinematics,three motion planning methods of biped robot are designed.The first is to use trajectory interpolation function,including line interpolation function and arc interpolation function in Cartesian space,and polynomial interpolation function in joint space to generate the motion trajectory of robot joint.The second method of squat motion planning is based on ZMP stability criterion.Under the condition of ensuring the stability of biped robot,the trajectory of each joint is optimized by genetic algorithm to realize squat motion.The third is gait planning method,which is based on two-point walking mode,and generates gait trajectory of biped robot by cubic spline interpolation.Based on the functional requirements of each module of the controller and the motion control mode,the software and hardware system of the controller master station and the computing slave station are designed,and the design of the host computer controller platform and the robot 3D simulation platform is completed based on C#.Based on the robot prototype experiment platform,the function of the controller is tested and analyzed by controlling the motion of the biped robot.The experimental results prove that the motion control function of the controller designed in this paper is good and stable,and the planned motion trajectory can meet the requirements of the biped robot to imitate human actions.