Abstract:

As the gradually aging population and the rise of automatic production, robots become necessary to us. Many types of robots have been proposed, the humanoid robot, by its human like appearance and geometry is an active field in robotics. However, the robot balancing problem is still a tough question. Biped attracted many researchers to develop the control rule and strategy. Because of the improvement of technology and the accumulated experiences, researchers in America and Japan start to develop their new robots which can run and jump smoothly and stably. The bipeds nowadays start to be able to deal with these difficult tasks. The first problem we met is to keep robot balancing while absorbing disturbances from the environment. In this thesis, we proposed a stabilizer with a real-time feedback control system to deal with balancing problem. We developed an optimal ZMP distributor as the control references. The COG Jacobian is used for whole body coordinate balancing. In addition, we used force sensors on ankles and Inertia Moment Unit (IMU) on waist. We did three experiments for proving the workability of this stabilizer. With the proposed stabilizer, the biped can endure external forces and walk on uneven terrain. The communication system of this robot is based on CAN-Bus and EtherCAT. It is a real-time system.