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Research of Gait Planning for Biped Robot

Author: HuangChunLin
Tutor: ZhangZuo
School: Guangdong University of Technology
Course: Control Theory and Control Engineering
Keywords: Biped Robot Cubic spline interpolation Particle swarm optimization Gait Planning Gait optimization
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 115
Quote: 1
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Abstract


Biped robot because of its flexible walking ability and class behavior has broad application prospects , and its the gait stability has become a hot topic . The gait planning is the key to the movement of the robot to achieve stable walking foundation and implementation class people . In this paper, on the basis of the collection, collation and analysis of relevant literature , the biped robot as the research object , with RoboCup3D simulation platform biped robot 's gait planning study . The main work of this paper are as follows: 1. Cubic spline interpolation algorithm planning gait . According to the position and orientation of the major joints of the critical moment , based on the cubic spline interpolation algorithm , under the conditions in the to meet pedestrian environment , geometric constraints and physical structure in the radial and lateral planes , respectively, planning ankle and hip in the entire walk the trajectory of motion cycle . Again through dual - plane synthesis calculated using the geometric relationship between lower extremity major parts of the knee , feet biped robot trajectory . Particle swarm algorithm to optimize the gait parameters , smooth gait stability margin . First analysis of the gait parameters of gait stability , then biped robot walking process , the bipedal stance phase characteristics , stability margin assessment function constructed and comprehensive walk characteristic gait optimization the objective function. Finally, using particle swarm optimization gait parameters , gait stability margin . In MATLAB environment experiment on and RoboCup3D simulation platform . The plans are expected in the MATLAB environment biped robot joint walk ZMP trajectory of the trajectory and stability margin , better able to satisfy the principle of the stability of the biped robot . Simulation Platform in RoboCup3D the planned gait is applied to the simulation Nao robot walk process data by the statistical simulation Nao robot gait optimization algorithm to verify the effectiveness of the cubic spline interpolation planning method and particle swarm superiority. Finally, a summary description of the main results of this paper , the prospect of any improvements in the topics presented at the same time .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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