Humanoid traveling control of large 17R “Kato Ichiro” robot
YANG Ping, CAO Qiang, ZHENG Haixia, SHEN Tao, GONG Lin qiang
(College of Mechano Electronic Engineering, Lanzhou University of Technology, Lanzhou 730050, China)


Abstract: Aiming at the problem of humanoid walking control for biped robot with large 17R “Kato Ichiro” structure, the robot s mechanical structure, control system, gait simulation, dynamics parameters and other aspects of all were studied. The mechanical structure of the robot was designed by using the bionics principle and referring to the upper and lower body proportions of the human body. The robot control system was designed, a kind of main control system based on DSP+FPGA was proposed. The multi CPU cooperative work and the distributed remote control technology were applied to the humanoid robot walking control. The gait walking test was carried out on ADAMS by using the rotation parameters of each joint in the process of human walking and the influence of the dynamic parameters on the gait of the robot was analyzed. The results indicate that the way of human walking control robot gait walking is stable and feasible, can be applied to robot gait walking control.

Key words: 17R humanoid robot; structural design; humanoid walking; control planning; ADAMS simulation