Study on the motion design and control algorithm of humanoid robot

摘要

The research on gait and action design of humanoid robot is the key point of humanoid robot research. Based on the research on motion stability criterion and trajectory planning of humanoid robot, this paper designs the action controller of humanoid robot and designs the corresponding control algorithm. With the help of the shr-6s humanoid robot, the motion and algorithm of the design were tested, and the motion design and control algorithm were proved to be feasible.