Research On Dance Stability Control Based On Miniaturization Humanoid Robot

The miniaturization humanoid robot plays an important role in science education.Through the dance performances of robots,they guide the audience to think and explore robotics in an entertaining way.Stability control is one of the popular topics in the field of humanoid robots that have received much attention and focus on research.The dance of the robot includes the static preparation stage and the dynamic dance stage.At present,the anti-interference of the static preparation stage of the miniaturization humanoid robot is insufficient,and the posture adjustment strategy is lacking when the external disturbance is caused,and the improvement of the dance stability mainly depends on the reproduction of the teaching.The mode is manually adjusted and lacks autonomy.Therefore,this thesis takes a miniaturization humanoid robot as the research platform,and studies the stability control system of the robot,This research improves the anti-interference ability of the robot and the stability when dancing,which has good practical significance and application value.Firstly,in order to stably control the small humanoid robot,this paper rationally utilize the internal space of the robot,design a control system,including the controller,the drive motor,the communication module,and the sensor.drive motors,communication modules,sensors.In order to solve the problem that the structure of the robot is complex and the center of gravity is difficult to measure directly,this paper designs the center of gravity measurement system of the robot,combining the center of gravity measurement platform and the kinematics model,and calculates the position of the center of gravity of the robot,This paper uses it for the stability estimation and attitude control of the robot.This paper designs the stable control system with standing posture.Secondly,in order to improve the anti-disturbance of the static preparation phase of the robot,this paper proposes an anti-disturbance control strategy based on inertial sensor.In order to overcome the shortcomings of gyroscope and accelerometer,Kalman filtering algorithm is used for data fusion to obtain more accurate attitude information of the robot,and this information is used in the anti-interference control of the robot to improve the robustness of the robot.Then,aiming at the stability improvement of robot dance stage,this paper proposes a ZMP-based dance stability control strategy,combining the center of gravity based attitude adjustment and ZMP stability criterion to design the robot’s dance stability control system and enhance the robot’s dynamic dance.The stability of the stage optimizes the design process of the robot dance.Finally,it is verified by experiments that the scheme described in this paper can effectively improve the stability of small humanoid robots and provide solutions for robot dance stability control.