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Study on Walking Stability of Biped Robot in the Control of Anti-interference Technique

Author: WangYi
Tutor: ZhaoXiRen
School: Harbin Engineering University
Course: Control Theory and Control Engineering
Keywords: Biped robot Gait Planning State-space model Kalman filter The classic stochastic optimal control
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 165
Quote: 2
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Abstract


Robotics behalf of the mechatronic the highest achievements in the twentieth century, one of the greatest achievements of mankind robot biped walking robot only nearly four decades of history , but because of its unique adaptability and intends to humanity and become the robot is an important development direction . Mobile robot biped walking robot with wheeled , crawling crawler better environmental adaptability , this superiority is particularly prominent in unstructured environment . Firstly design of the body structure of the FM-1 bipedal walking robot , and to select the steering gear as a driving source . Then , based on the generalized coordinates of the robot kinematics modeling , the method of calculation is simple , intuitive , and easy to understand . On the basis of the kinematics modeling the dynamics of the robot based on Lagrange equation modeling , the modeling method can easily drive torque required for analysis of each joint , as the basis of the kinetic analysis and robot motor selection . Based on the linear inverted pendulum model theoretical dynamic walking out before the plane biped robot able to achieve stable ZMP conditions . Parametric programming based the ZMP stable condition , on the footsteps of the biped robot trajectory planning and strive to meet the maximum stability margin . The inverse kinematics formula , each joint planning . Based on Matlab on planning out the results of computer simulation , and illustrate the rationality and effectiveness of planning . Finally , this paper classical random optimal control of biped robot walking Immunity control study , including the linearization of the equations of motion , using the classical Kalman filtering biped robot motion state estimate , and stochastic optimal control . Simulation results show that control immunity , improve joint motion accuracy .

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