类人猿机器人双足全方位步行智能学习运动控制分析-control analysis of biped omnibearing intelligent learning movement of apes robot.docxVIP

AbstractIn recent years, scholars have done a lot of research on biped walking robot in the aspect of strengthening environmental adaptation, and the environmental adaptability of the walking robot has been improved. However, the research on biped walking robot is still in its infancy. The research on adaptive intelligent control is in the theory stage, which is used in the actual intelligent control is numbered. In the future, it is extremely important for intelligent control to research intelligent learning. Intelligent robot is the best way to improve the ability of the biped walking robot to adapt to the environment.This paper focuses on the omni-directional walking planning and walking learning research to provide a method to improve the flexibility and a daptability of the bipedal walking robot. Concretely speaking, firstly,Fourier series approximation planning method for the omni-directional walking has been /s?wd=introduceintroduced. The method which makes full use of characteristics of the walking cycle, and combines with the stability properties of 3-D inverted pendulum based on ZMP is uesd to plan the complex motion of mass center, and provides a theoretical basis for the stability of walking robot. In terms gramming and implementation, the method is simple and easy to complete by useing the series approximation method, thus, it is an ideal walking planning method. The trajectorie of COG for turining is planned by building the relation between forward walking and turning walking, and the planing of omni-directional walking is completed for the bipedal walking robot.The research on walk learning is carried out by learning success walking samples obtained by using the above method. The main information which affects the walking stability is learned by using walk learning. There are three different situations for walk learning including different step length, different step velocity, different step length and velocity and different turning radius, and they