基于足部感知系统双足仿人机器人稳定性方法的研究-控制工程专业论文.docxVIP

万方数据 万方数据 Study of stabilization for biped humanoid robot based on foot sensing system Abstract With the development of science and technology, robot presents itself on the world stage and robot technology also permeates various fields of human life. With its unique charm,biped humanoid robot has got extensive favor. Biped humanoid robot imitates people’s walking style, especially suitable for later work and life, finishing jobs friendly with people. Humanoid robot gait has become a hot field in the robotics research. The research not only has important academic significance, but it also has practical application value. The foot is the only contact with the ground and the data information from the foot is the key for realizing stable walking. This paper aims to control robot attitude with foot sensing system, optimizing the pathway of the center of gravity, making the robot stable. Firstly, according to the configuration mode and degree of freedom analysis, combined with human body morphology designing the robot that is close to human body. STM32F103RC is selected as control chip then the control board finished. Through a series of experiments verify the reliability and stability of the control board and the function of the control board can completely satisfy the control requirements of us. Then we finished the motion control of robot. Secondly, robot kinematics model are established through forward kinematic analysis and inverse kinematic analysis. Choosing the gait and providing the criterion of ZMP stability. Analyze the relationship between the attitude of robot and the force of feet in the static walking. The criterion of ZMP stability is applied to the walking process. Thirdly, attitude control method is proposed based on the criterion of stability. The control method aims to analyze the relationship between the attitude of robot and the force of feet in the walking, applying the criterion of ZMP stability. Obtain the force information through foot sensing sy