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Research and Control of Humanoid Football Robot

Author: GeZhuang
Tutor: ZhangYingChao
School: Nanjing University of Information Engineering
Course: System theory
Keywords: Humanoid robot soccer ZMP stability criterion Variable ZMP Gait Planning
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 50
Quote: 0
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Abstract


The humanoid robot walking class people of bipedal walking, have good flexibility , has incomparable advantages of the other robot technology is today 's field of robotics research frontier and hot direction one . This paper will design a humanoid robot , robot motion planning and design to make it achieve stable walking . First , the paper reviews and summarizes the status quo of the history and development of the humanoid robot , humanoid soccer robot design of major research institutions at home and abroad are analyzed and compared , and the main content of this study . Secondly, we designed humanoid soccer robot joint degrees of freedom , and configuration of the system drive . After determining the mechanical structure , the design and implementation of the control circuit to complete the hardware configuration of the humanoid robot soccer . Then, humanoid soccer robot kinematics analysis , the the DH matrix method to establish the coordinate system , a DH parameter table on Forward Kinematics and inverse kinematics equations on DH matrix operations , and at the same time draw imitation the joints of humanoid soccer robot joint angle trajectory . Then inverted pendulum model based on three-dimensional gait planning of humanoid soccer robot based on ZMP stability criterion . Proposed ideal ZMP trajectory planning of humanoid soccer robot trajectory of the centroid (COG) and ankle . Finally , the experiment actually measured the ZMP location and planning the ideal ZMP is always a certain amount of error , which will lead to instability humanoid soccer robot walk . To resolve the error , and then through the fuzzy algorithm of humanoid soccer robot control system control, making the gap between actual the ZMP and ideal ZMP reduce ensure stable walking humanoid robot soccer .

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