Research On Biped Walking And Dynamic Walking Modes Shifting Control For A Gorilla Robot

In order to solve the complex environment adaptiveness of humanoid robot, Professor Wu Weiguo proposed a gorilla robot with multiple locomotion modes in 1999. Compared with humanoid biped walking robot, gorilla robot which imitated gorilla animal has the characteristics of multiple locomotion modes and transition of walking mode, it has better environment adaptability and locomotion agility for rough road. Therefore, in the future gorilla robot with multiple locomotion modes has great application potential at the aspects of space technology, national defense, military affairs etc. So this research has important actual significance.Based on walking theories for humanoid robot, the research on biped walking, walking mode shifting motion control of standing up for gorilla robot"GoRoBoT"has been carried out in this paper. In order to realize biped steady dynamic walking, this paper adopted a trajectory of variable ZMP(Zero Moment Point),which was defined as a cosine curve. Based on variable ZMP and dynamics of 3-D inverted pendulum, we educed the COG(Center Of Gravity)'s trajectory equation of the robot in the single-support phase and transition of locomotion phase. And we used third-order spline function to ensure the acceleration continuity of the robot's COG in the double-support phase. Thereby, the smooth trajectory of COG was gained by planning. Through inverse kinematics resolved, each joint trajectory of the entire process was obtained. Upon those theory studies, under the simulation environment of ADAMS software, the 3-D virtual prototype model was simulated according to actual gorilla robot"GoRoBoT". And in simulation studies, this paper realized biped steady dynamic forward-walking, upstairs and downstairs biped walking, walking mode shifting and rationality of the method for pattern generation was validated in this paper. By the simulation, the curves of joints drive torque and ground reaction force for landing-foot were gained. Those simulation results confirmed the ability of walking for gorilla robot"GoRoBoT".Based on the analysis of the walking mode shift of "GoRoBoT", according to moment control to research movement control of standing up. By controlling the...