Dissertation > Excellent graduate degree dissertation topics show

Reaserch on Dynamics for Fast Walking of Biped Robot

Author: HouYueYang
Tutor: WuWeiGuo
School: Harbin Institute of Technology
Course: Mechanical Design and Theory
Keywords: Biped Walking Robot Robot Dynamics High Speed Walking Preview Control ZMP
CLC: TP242.6
Type: Master's thesis
Year: 2008
Downloads: 226
Quote: 1
Read: Download Dissertation

Abstract


The research on biped walking robot ,whose walking style not only academia pay attention to more and more, but also industrial circles start to make researches on it for spreading brand image because biped robot is symbol of high technique ,is developing rapidly.Theory of biped walking contains wide range of reaserch,which we begin to reaserch from perspective of high speed,which includes:In this paper, a driving unit of cable-driven for biped robot based on pulley-block principle which the idea of design and the principle of the mechanism are explained is designed, which provides a kind of novel driving style. The feasibility is also be analyzed to prove that the driving unit can provide 25 continuous torque in theory. N?mThe robot is decoupled in sagittal and lateral plane to acquire the iterant Newton Euler dynamic equations of seven-link and nine-link model based on both of transmission shaft coordinates and driving shaft coordinates separately. The amendatory condition for the stable walking of robot is proposed, thus, the multi-link zmp equation based on jerk is acquired through the conception of jerk based on the Taylor formula of 3 ranks.The chapter is the principle foundation of dynamics simulation.A three-dimensional spring car model whose motion rule,which is regarded as reference of hip trajectory, is derived through simple ZMP equation based on jerk for dynamics analysis is proposed to compare with the model of inverted pendulum. The cosine trajectory is planned for the movement toward Z coordinate of squatting, and a kind of slope-variable zmp trajectory is designed considering acceleration and deceleration gait. Trajectory of two-dimensional Center-Of-Mass (COM) is generated through reference trajectory of ZMP combined with preview control theory.Ankle trajectory is smoothly planned by third power spline interpolation function based constraints. Walking pattern is generated for simulation in the next chapter.Procedure of dynamics and walking pattern is programmed under MATLAB,and biped walking robot virtual prototype of 12 DOF is built in PRO/E,both of which are guided into ADAMS to verify the correctation of walking pattern and dynamics method and prove that the novel driving unit can be used to transmit pitch joint of robot with greatly safe range.The simulation of hign speed walking is realized in ADAMS,which the robot can walk at the speed of 2.088km/h that the step is 0.6m and the walking period is 0.5s. The result of simulation becomes fundation of prototype experiment.

Related Dissertations

  1. Study on Humanoid Gait Planning and Stability Control,TP242
  2. A Method for 6-PSS Parallel Robot Dynamics Model,TP242
  3. General Synchronization Research on Mechanical Dynamic System of Robots,TP242
  4. Research on Walking and Gait Planning for Humanoid Robots in Robocup3D Simulation System,TP242
  5. Vibration Analysis and Trajectory Control for Wafer Transfer Robot,TP242.2
  6. Develop of Mechenical Prototype and Reserch on Kinetic Characteristic of Quasi-Passive Dynamic Walking Robot,TP242.2
  7. The Controlling Method and Experimental Research of the Walking Stability of Biped Robot,TP242
  8. Study on Humanoid Soccer Robot Motion Planning,TP242.3
  9. Dynamics Analysis of a Novel Re-Configurable Double-Tripod Hybrid Robot,TP242
  10. Motion Planning of Biped Robot Based on Multi Sensor System,TP242.6
  11. Humanoid robot control system design and Stability,TP242
  12. The Gait Planning and the Balance Control of the Quadruped Walking Robot Based on ZMP,TP242
  13. Research on Sucked-type Polishing Robot,TP242.2
  14. Research of Biped Robot Self-Learning Control Algorithms,TP242
  15. Research and Control of Humanoid Football Robot,TP242
  16. Research on Three-dimensional Soliding Mode Control of Tension Remotely Operated Vehicle,TP242
  17. The Motion Control and Gait Optimal of the Snake-like Robot,TP242
  18. Research on Motion Planning of the Biped Walking Robot,TP242
  19. Research of Actions Plan and Adaptive Arithmetic Trajectory Tracking for Humanoid Soccer Robot,TP242
  20. Active Control of Flexible Two-Link Manipulator,TP241

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot > Intelligent robots
© 2012 www.DissertationTopic.Net  Mobile