Research On Gait Planning And Walking Control For Lower Limb Exoskeleton Robot

With the continuous development of society and the rapid development of science and technology, the use of automation and information technology to produce mechanical system to break the limits of the human body, extending the range of human activities, has become the norm. Lower limb exoskeleton robot comes into being in this context. It is a device that helps the patients with lower limb disabilities to achieve the normal walking. It is a new application of automation and information technology in the medical and society field. As to provide walking ability, its stability and coordination is the primary consideration.To obtain the desired result of walking, gait planning and walking control must be carried out in theory and in fact. Gait planning is to design the desired trajectory of the robot’s joints, which is the theoretical basis and key technology to achieve stable walking. Wakling control is realized in the actual situation, combined with the existing planning results. It is a direct method for the identification of gait and posture coordination.Based on the collection and analysis of a large number of relevant literature at home and abroad, this paper focuses on the gait planning and walking control of the lower limb, the core research work is as follows:Firstly, relied on the rule of human body biomechanics and the characteristics of biped walking, an abstract model of the robot for lower limb external skeleton was established. Using the coordinate system to analyze kinematics for obtaining human body pose; Using the Lagrange equation to analyze joints moment of force.Secondly, introduces the ZMP theory and derivs its formula. Introduces the cubic spline interpolation and its solving method. Based on this interpolation, this paper puts forward a five gait planning method.Finally, according to all the theoretical results, the key equipment is selected for designing a lower limb exoskeleton robot which is an experimental platform to test the result of walking. Introducing the gait parameters and caculating the ZMP coordinates to test the stability of the gait and the coordination of the pose.