Stability Control Research Of The Hydraulic Actuated Biped Robot

Biped robot has a humanoid appearance, and can work in various kinds of complex terrain environment. It is a current research focus.The research of biped robot is focused on the stability control method in the process of movement. Because the biped robot structure is more complex, there must be a very good control idea and strategy to achieve rapid and stable walking. Based on these problems, this paper is mainly focus on the problem of motion control for a hydraulic actuated biped robot.The mainly work we do are include in the following:(1) We have made the detailed understanding and analysis for the biped robot that we used for research, including its driving mode, the problem of freedom and mechanical structure parameters, etc. Then we get the mathematical model for the prototype. Set up the kinematic model by D-H method based on the pose matrix and inverse kinematic model using inverse solution and geometric logic of spherical triangle.(2) In view of the stability of the biped robot control method for related research. Based on the cubic polynomial interpolation method, we design the biped robot gait planning. Two different control method is proposed- the control strategy based on ZMP information as well as body posture information. We have given a detailed analysis on these two methods. Simulation experiment was carried out in ADAMS simulation environment. Then we find out the differences and similarities, based on the simulation results in ADAMS.(3) Analyses and studies the robot dynamics problems. First introduced the related mathematical foundation-Jacobi matrix, angular momentum, inertia tensor, and so on. Then we can establish a dynamic learning model based on the Lagrange method. We can obtain a certain formulated equation of bipedal robot dynamics equation. For the inverse dynamics problem of biped robot, we adopt the method of Newton-Euler equation. Through the Newton-Euler method, bipedal robot inverse dynamics model can be obtained.(4) Experimental verification. We have done the experiment on the biped robot that made for research previously. The result proved that the method we developed is effective and feasible.