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Reaserch on Dynamics for Fast Walking of Biped Robot

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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
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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.
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