The Running And Jumping Control Of Little Quadruped Robot

Legged robots attract much attention of researchers because of its agile movement comparing with wheeled robots and crawler robots.Quadruped is the hot point of researches on legged robots due to its stable walking and its simple mechanical construction.Running at a higher speed,carrying more cabbages and walking in more complex terrain is the development direction of quadruped robots.Though there are several quadruped robots that are able to move at a high speed,researchers haven't made public their control methods entirely.In this dissertation,we will start with the analysis of dynamic state of SLIP model and then present a open-loop control method of running and jump of quadruped robots.The main content of this dissertation is as following:(1)Give an introduction about the development of quadruped robots and its control method of running at ahigh speed in abroad and at home.(2)Simplify quadruped robots modeling to single leg modeling.Consruct D-H coordinate system on single leg,and analyze the forward kinematics and the inverse kinematics of single leg.Calculate the work space of foot of single leg by the forward kinematics of single leg.(3)Analyze the dynamic features of running animals by SLIP model,and present simple open-loop control methods of quadruped running with Flying Trot gait and quadruped jumping with Pronk gait,which is based on the position control of feet.And the quadruped running control method includes two part:eject control in vertical direction and speed control in horizontal direction.(4)Introduce the Webots,a robots simulate software,and construct 3D model of quadruped robot in it.Test the control methods of quadruped running and jumping presented by this dissertation in Webots,and record the data of forward speed,lateral speed,rotate speed,altitude of body,roll angle of body and pitch angle of body of 3D model during tests.The simulation result shows that the methods presented by this dissertation is effective.(5)Introduce the control construction and mechanical construction of Billy,the quadruped robot used in the experiment of this dissertation.Make several experiments about running control and jumping control using Billy.The result of experiments prove that the control methods presented by the dissertation is effective in practice.(6)Summarize what we have done in this dissertation and some drawbacks of the control methods presented by this dissertation,then point to following research work in the future.