Dissertation
Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot

The Research on Planning and Controlling Method of Walking for Biped Robot

Author ZhaoJiuZhou
Tutor JuHeHua
School Beijing University of Technology
Course Control Science and Engineering
Keywords Biped Robot Gait Planning PhysX Natural Gait Virtual PivotInverted Pendulum
CLC TP242
Type Master's thesis
Year 2013
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The controlling and planing method have always been a hot issue in the field ofRobotics, Usually the biped robot were treated like a Industrial Robot by the ZMPconstraint, the generated gait was more inefficient then human. So the main ideawas to find a controlling and planing method for biped robots by studying themechanism of human bipedalism to carry out a much more high efficient gait.1. Studying the kinematic of robot with D-H method, using the homogeneoustransformation for the forward kinematics, using a dimensionality reduction methodfor the inverse kinematics.2. Using Kane method for the forward dynamic of the robot, using theNewton-Euler for the inverse dynamic of the robot.3. Developing a dynamic simulation platform with PhysX and DirectX3D APIfor studying the robot, with high solving speed and high-precision.4. The common principle of Bipedalism from all kinds of researches on humanbipedalism will be a significant guidance to robot walking. We found that energeticoptimum is a key principle to human bipedalism. A simple bionic control methods ispresent to test the feasibility that using the similar method on robot.5. There’re many traditional gait planning method based on the linear invertedpendulum or table-cart model, by which the mechanical energy of robot during theswinging phase was fluctuant and lead to a much more inefficient gait compare tohuman, to solve this we introduced a new gait planning method based on an invertedpendulum with a virtual pivot, by which the mechanical energy of robot wereapproximate conservative and the ZMP were traveling form the heel to toe, like theground reaction force mechanism of bipedalism.

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