Walking Trajectory Planning and Balance Control Design for Bipedal Robot

• Main Authors: You-Cheng Liang, 梁祐誠
• Other Authors: 鄭耀昌
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/rbvjzu

碩士 === 國立虎尾科技大學 === 自動化工程系碩士班 === 105 === In recent years, based on the rapid advance of computer technology, Computer aided engineering (CAE) software has become a powerful tool for engineering researchers to carry out engineering analysis. Therefore, this paper proposes a simulation model of biped robot on Matlab / SimMechanics. Through the numerical analysis simulation and visualization, the robot motion synthesis, analysis, and gait movement numerical simulation are presented. The simulate model is employed to investigate dynamic analysis, inverse kinematics analysis and ankle mechanism compensation. The simulate result provides an efficient and important information for biped robot design. In implementation of small bipedal robots, this paper first carries out the mechanism design of biped robot. Control strategy is based on Hierarchical control architecture. The main controller adopts MyRIO, the computer is designed a monitor. The Inertial Measurement Unit (IMU) is installed in the gravity center of the body. The sensor is used to detect the ZMP point and the gyroscope is used to monitor body balance. Then, Hip joint balance compensation is adjusted, so that bipedal robot can walk stably. In this study, the balance between the walking trajectories planning of biped robot is described, the design and simulation of ankle compensation is presented.