Realization of biped robot gait planning based on NAO robot development platform

摘要

In this paper, the research object is NAO robot, and for the instability problem of motion of biped robot, the NAO robot deep development platform is set up, the prototype and simulator are controlled real-time and the data is collected by using the control platform, So many experiments are completed by the development platform, to improve the stability of the simulator and the prototype. The theoretical value are obtained by the variable length inverted pendulum model, and through the comparison of theoretical and actual value of the joints angle sequence, the validity of method is verified. Firstly, the walking process of robot is analysed, the variable length inverted pendulum model is built; Then combined with the geometric constraints method, according to the NAO robot lower leg intrinsic parameters and experiments parameters, the motion trajectories of centroid and joints angle sequence are obtained respectively by using the kinematics, inverse kinematics and smooth function fitting method; Finally, obtained the joint angle sequence is the premise, in this paper, the stable gait walking is realized respectively on the simulator and NAO robot prototype based on the development platform, compared to the joints angle sequence trajectories of the actual waking and the theory calculation, the validity of the above research is verified.