The Control Method And Experimental Research On Dynamic Stability Of The Multi Legged Mobile Robot System

Multi legged mobile robot must guarantee the stability of the robot in the process of movement in real time when moving,it can take measures to restore stability in time when it's instability to avoid damage to the body caused by the instability of the robot.In the paper,related research and analysis on the stability determination of multi-legged robot's movement on the rough terrain and its instability problem,establish the corresponding stability criteria.In the paper,firstly the development of multi legged robot platform is made a brief introduction.The development process of the whole legged robot is analyzed.The advantages and disadvantages of legged robot are simple summarized.From the geometric characteristics and the characteristics of the house to analyze,the rough terrain in the natural environment is divided into four typical terrain.Based on that,make classification of six legged robot's motion instability by combining with the motion and structure characteristics of the six legged robot.The analysis method of mechanical equilibrium is adopted to obtain the conditions for the six legged robot to maintain stability.The mapping relationship between the driving space,joint space and motion space of six legged robot are analyzed.A forward and inverse kinematics model of six legged robot is established to obtain the calculation method of the motion parameters,based on the equivalence principle,the equivalent inertia force and moment of inertia of the six legged robot in real time are obtained;the ZMP method and the FASM method are combined to establish a method for judging the stability of multi legged robot.Take the multi legged robot in the rough terrain as an example to supplement the corresponding verification by v-rep simulation software and matlab and v-rep combination.