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Research of Humanoid Robot Motion Model and Plan Based on Multi-Sensor System

Author: WangWenBo
Tutor: YangFengJie
School: Jilin University
Course: Computer Software and Theory
Keywords: Humanoid Robot ZMP Motion Plan Multi-Sensor
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 149
Quote: 0
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Abstract

Robot technology is a new and high technique of international science research area, which has been considered one of the greatest inventions of the 20th century. From the beginning of the 60’s age when robot started to shine in the world, after 40 years development, robot technology has been the hotspot of research area step by step and gets great development both in technique and practice area. Robotics is a cross science which includes mechanism, bionics and AI. It has a special structure that make a connection between basic research and application and becomes the main research direction for future family service robot and becomes a new platform to show information and automation forward research result.At present, the main kind and form of robot includes wheel, walking, crawling and caterpillar band robot. There are more advantages for humanoid robot than traditional wheel and caterpillar band robot. Blind area of moving humanoid robot is very small which can go up and down stairs to cross abnormity and discontentment ground and has more obstacle avoiding ability. Because of that, there are more activity areas and work spaces for humanoid robot. Humanoid robot has the characteristic of low energy cost and two legs walking ability that is the special way of human and is the most automatically way to walk. To walk stably as human is the target of humanoid robot researcher. Movement like catch and humanoid walk which seems to be simple that is the representative of high technique of robot and combines several science and high technology. Compared with the other foot robot, humanoid robot moves more flexible, light weight, small size and other characteristics .Because of the simulating human walk, humanoid robot has a strong ability to adapt to the environment.Although it has a lot of advantage, humanoid robot is still in the stage of research and experiment. The stability of human walking depends on the number of muscles and nerves, and humanoid walking is only a simulation of walking, but not reach a stable way. So, how to improve walking speed and solve the stability is the main research direction. And humanoid robot research area connects with lots of discipline, such as computer science, communication, control technique, material science, sensor technique, AI and so on, which limits the ability of research and development greatly.To do more research in humanoid robot area and make a good research foundation, first of all, this paper reviews the contribution of each university and research department. Including“forthgoer”of National Defense University in 1989, Robot BHR-1 which can play shadowboxing of Beijing Institute of Technology in 2002 and BHR-2 in 2005. this paper also reviews the international research including KATO professor’s WL-10DR humanoid robot that uses ankle moment control in 1984, S.Kajita develops Meltran II of Japanese Mechanical Engineering Institute in 1996, Honda Japan develops P-2 in 1996 and MIT’s robot Demo with 29 dof in 2005.Based on the research and analysis of current situation and development trend of national and international robotics, this paper chooses ROBONOVA-1 humanoid robot as the platform of complex motion plan platform. Robot joint structure is fixed by analyzing the form of joint dof and driver though a point of simulating human and joint size and angle bound is fixed by combination of human body ratio size. The angle bound of each motor of ROBONOVA-1 is from 10o to 190o which can adapt the design of sprint, raise up things, throw motion. After that, this paper analyzes overall structure design, controller, including basic parameter and structure and also analyzes the structure design and controller and do research about the software system including main framework, tools, system development language Robo-Basic and many types of programming orders. At last, this paper researches on basic principle and advantage of robot sensor including ultrasonic sensor, infrared sensor, compass sensor and incline sensor.In order to have a theory basic support to do research about humanoid complex movement plan research, this paper analyzes humanoid math model and walking stability. To calculate physical strength and torque of moving robot, to design and plan robot walking motion, to analyze the stability of walking robot and to analyze control principle of waling robot, kinetics model and math description of control must be given. First, this paper gives math model of single leg and double leg support walking stage. And introduces the basic method of walking plan, then analyzes method of humanoid robot walking plan based on center of gravity.The main content of complex movement planning includes the design of basic algorithm such as raising up two arms, turning left and right, moving left and right, moving forward and backward and complex movement method design such as raising up, sprint, pelt and across ground. First, on the basis of basic movement plan of multi-sensor humanoid robot, this paper represent motion plan about raise up two arms, turning left and right, moving left and right, moving forward and backward slowly. Then, this paper design complex motion plan about raise up, sprint, pelt and across ground and gives the flow chart of each algorithm.

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