The Application Of Inverted Pendulum In The Biped Robot System Computer Application Technology

Robot technology is the product of electronics,machinery,artificial intelligence and other fields of new technologies.AS a branch of robot,Biped walking robot research puts forward higher requirements of the technology and thought in research field.Biped walking robot has good flexibility,which can adapt to a variety of environmental requirements.So it gradually becomes the focus of the study field of robot.Among the many research methods,there's a lot of similarity among inverted Pendulum system and Biped robot's walking.So the inverted pendulum system is used to simulate the biped robot walking and research the stability and control methods of the biped robot in recent years.And it becomes a new research direction to research Biped robot.This paper gets the biped robot as an investigative target,and the main work in this paper is list as following:Firstly,this paper reviews and summarizes the biped robot research history and development status.I analyze and compare the biped robot designed by different research institution,and gave out the frame of the paper.Secondly,this paper expressed the application and simplify of the Inverted pendulum model used in biped walking robot motion analysis.It consider the inverted pendulum have the same location at the bottom during dumping,to simplify the calculation and analysis of the complexity.Then,Biped walking robot is simplified by linkage mechanisms.Robot radial degrees of freedom involved in sports are concentrated in the radial plane.Planar linkage mechanisms can be used to simplify the robot and analysis of the robot motion.Kinematic model is built based on D-H method.The center of gravity is expressed in the D-H coordinate.Simplified model of the robot is used in the analysis of action to stand up.Stability condition is derived from the action of the stand up.Differences between the two methods of Side-walking are analyzed and compared based on the simplified inverted pendulum.Motion Planning is described.Stability condition of the non bionic side-walk methods is discussed.Tracks of the gravity center and time are compared between the two methods. Finally,in a biped walking robot platform which has 17 steering gears.Method of getting up and the two methods of side-walking are actually verified.There are satisfactory results.