Research On Behavior Control For Biped Humanoid Robot In Specific Complex Environment

Biped humanoid robot has the shape of human body and is endowed with high expectations when created at the beginning. It is an integrator of varieties of technologies such as mechanic, electronic, computer science,sensor tech and controlling. It is the frontier of robot study. Now humanoid research has become a very popular area in robot science because of its perspective and potential. In the last 40 years the study of building and controlling walking robots has improved a lot but we still face the problem of numerous degrees of freedom and difficulty of controlling. In addition we can say that in the future humanoid robots will be facing real complex environment that normal robots have never experienced, like disaster scene,family house, even war. Hence the study of humanoid behavior in complex environment is especially important.In this paper we have two kinds of classic complex environment,which is unknown rough terrain and huge barrier on the ground. We studied the walking control and removing the barrier in these environment respectively. In walking control, we studied the stability of walking on flat surface, unknown slope and slope with rocks on it. In removing barrier, we discussed the method of how to remove the thing without a force sensor of hand and how to measure the weight of the barrier and its friction on the ground. And plus we optimized some of the relative indexes. Specific workincludes:1. Gait planning based on “Passive Inverted Pendulum Model”(PIPM); designing of the controlling algorithm starting with predictive tracking control of “Zero Moment Point”(ZMP) including body posture control, nonlinear touchdown, virtual “Spring-Damper” model and ground information decomposing.2. Designing a method and a technical process for a humanoid robot to remove the unknown barrier on the ground without a force sensor on hand. Besides it can measure the weight of the barrier and its friction on the ground. Meanwhile adjusting body posture to reduce the stress on hip joints to make sure they won’t be overloaded. Discussing the differences of energy consumption of “Passive Inverted Pendulum Model”(PIPM) and“Linear Inverted Pendulum Model”(LIPM)。3. Proving the effectiveness of the algorithm mentioned above by simulation and experiment.