Design and Control of a Biped Robot
Date Issued
2007
Date
2007
Author(s)
Wu, Jia-Yang
DOI
en-US
Abstract
The purpose of this thesis is to design a biped robot and realize the stable walking in practical environments with an appropriate trajectory generator and controller.
In the mechanism design, we use CATIA and ADAMS to construct the robot and simulate the kinematics and dynamics. The forward and inverse kinematics are also described and apply to the trajectory planning and control.
In the trajectory generator, the combination of central pattern (CPG) and Zero Moment Point (ZMP) is applied to generate the trajectory of center of gravity (COG) of the biped robot. The foot trajectory is produced according to the output of CPG. Finally, the whole-body motion is fulfilled by solving the inverse kinematics.
In the controller design, the combination of DSP and FPGA is applied to achieve the multi-motor control. With the information of six-axis force/torque sensor, the impedance control can be applied to the biped robot so that the robot can adapt the environment more easily.
In the final integration, trajectories are calculated in PC and send to the robot via GUI to test all kinds of motions. In the future, we expect to bring the technique of embedded system into the biped robot to realize the autonomous motion.
Finally, the simulation and experiment results verify that the biped robot can walk on a flat ground stably without falling with the proposed CPG/ZMP system.
Key words: Biped Robot, CPG, ZMP, Trajectory Planning, Motion Control
Subjects
二足機器人
CPG
ZMP
步態規劃
運動控制
Biped Robot
Trajectory Planning
Motion Control
Type
thesis
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