Walking Pattern Analysis and Control of a Humanoid Robot
Date Issued
2006
Date
2006
Author(s)
Yu, Shu-Wen
DOI
en-US
Abstract
This thesis aims at the mobility enhancement of a humanoid robot. Through co-simulation method implemented by using ADAMS/Controls and MATLAB/Simulink, we analyze the kinematics and dynamics of a humanoid robot. Moreover, the analysis of the walking factors on different environment and the walking pattern generation analog to human locomotion will be thoroughly discussed.
In this thesis, we developed a simple method to generate the foot trajectory even in different environment. And a brief investigation of foot parameters is made. In order to achieve smooth walking pattern generation, the Zero-Moment Point (ZMP) trajectory planning is proposed in this thesis. With simulation results, we can tell the energy consumption decreases and the robot walks more stably with planning ZMP trajectory and suitable foot parameters.
We also develop a correlation-based control (CBC) to realize on-line COG trajectory planning. The correlation-based control is designed by the correlation of those factors which can inference the walking stability. Moreover, the RWLS (Robust Weighted Least-Squares) is also developed for the reliable inverse kinematics solution. Finally, the simulation results display that our algorithms can efficiently enhance the stability of the humanoid robot.
Subjects
人型機器人
步態
Humanoid Robot
Walking Pattern
SDGs
Type
thesis
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