Research And Design Of Humanoid Robot System

The rapid development of intelligent hardware and software technology has brought about tremendous changes in people's work and lifestyle.People increasingly need smart lifestyles.Therefore,people are increasingly using robots in their daily lives and work,and people expect that robots can think,express and act like humans.So the development of humanoid robots is in urgent need.Therefore,this article is devoted to the development of a humanoid robot,providing a good hardware platform for the research and development of humanoid robots.The main research contents of the paper are as follows.Firstly,the structure of the humanoid robot mechanism theory and degree of freedom of humanoid robot are studied,and the mechanical structure of the humanoid robot is established based on the principle of bionics and the Hanavan human body model.The appearance design is relatively novel.The driving mode of the humanoid robot is studied,the control system of the slave computer is established and the connection with ROS is realized.The real-time performance of the control system is achieved,and the real humanoid robot is made in kind.Then,the kinematics basic knowledge of the humanoid robot is studied.The coordinate system of the humanoid robot is established using the D-H model method.The kinematics model of the humanoid robot and the inverse kinematics model of the legs are established.The position of the center of mass of the humanoid robot is calculated using forward kinematics.After studying the theory of the dynamic model of humanoid robot,the dynamic model of the humanoid robot is preliminarily established.Furthermore,the stability criterion of the bipedal walking of the humanoid robot and the measurement method of the ZMP are studied,and the measurement of the centroid acceleration of the humanoid robot and the measurement of attitude of the humanoid robot are either implemented in different ways.Based on the theory of inverted pendulum model,the bipedal walking model and walking balance of the humanoid robot are studied,and the bipedal walking of the humanoid robot is realized.Finally,the technology of robot development using ROS(Robot Operating System)was deeply studied.The master computer system of humanoid robot was established in ROS and the visualization of humanoid robot was realized.The motion planning tools and dynamic simulation tools in ROS were studied,and the master computer motion control of humanoid robot was realized.