Application and Research of Humanoid Robot Based on Second-Order Cone Programming

摘要

It is an extremely complex process of controlling walking motion for humanoid robot, and its dynamics model has many rich features. The article puts forward a kind of optimization design method on any time humanoid robot walking movement. Firstly, this article makes a stability analysis of walking humanoid robot based on the ZMP criterion, at the same time with the design of using a humanoid robot walking movement by the criterion of the error between the expectations and kinetic energy of the weighted kinetic minimum norm make the problem into a second-order cone programming (SOCP) optimization problem, then use the interior point method to solve the kinetic energy of optimization coefficient of the humanoid robot walking movement, and by compares with the LMS design method and genetic algorithms, finally the algorithm is validated in the simulation and experiment, the numerical results are present for illustration.