Biped Robot Design And Control

In this thesis, a miniature biped walking robot is developed. First, the degrees of freedoms of the robot are analyzed. Then, the patterns of the joints between each element and apparatus are designed. The MG996 motors and their peripheral pieces are combined to be a simple biped walking robot.To perform the algorithm, we analysis and derived the equations of vector algorithm, the inverse kinematics and dynamics, barycenter position (COG) and ZMP (ZMP) calculation. and the robot dynamics equation is analysed and derived the biped robot nonlinear system diagram. On this basis, the paper points out the defects of traditional control method,then introduces the new method--bionics control. On the based of CRUSE controller, the neural network controller is designd. Then the dynamics simulation is performed in MATLAB and ADAMS union simulation environment, Trough the simulation results and data, it is concluded that the robot half passive walking features and characteristics such as saving energy consumption is realized, prove that this control scheme superiority.At last, we use the Atmel company's Mega128 chip to design the control board, combining the robot hardware, successfully design a stable walking small biped machine. .