Research On Motion Mode And Control System Of Four-legged C-legged Robot

According to human development needs,robots that can move smoothly in different environments have become more and more valuable for research.Traditional wheeled and crawler robots have excellent walking ability in flat roads,muddy ground,gravel and other pavement environments.However,in environments such as deserts that are prone to sinking,they cannot walk.The passability of the C-shaped robot in the desert environment still allows us to develop a robot that can move in different environments based on the C-shaped robot.In this paper,a new four-legged C-leg robot is designed by combining the research results of ground dynamics and the principle of bionics.To study the structural characteristics of the four-legged C-shaped leg and the stress situation of the four-legged C-shaped robot on the ground,in order to choose the size,material and geometry of the C-shaped leg.Plan the gait movement method of the four-legged C-legged robot,design the gait changes of the C-shaped leg according to the change of the center of gravity of the overall four-legged C-shaped robot during the movement to achieve the overall balance of the center of gravity,and according to the C-shaped leg on the ground The contact state is designed with a specific gait following angle,the interaction between the C-shaped leg of the quadruped robot and the ground is analyzed,and the force distribution law on the rim and the movement law of the C-shaped leg when walking are studied.Complete the basic mechanical structure design of the robot,so that the robot can adapt to the ground environment and perform steady-state walking.A bionic quadruped C-leg robot motion control system was constructed to achieve the smallest possible control delay and error,a remote control platform was established,and the quadruped C-leg robot was controlled by a host computer.The robot can adjust the size of the following angle to enhance the stability of the motion gait in order to obtain better motion performance.It is also necessary to improve the mechanical structure design of the C-leg of the robot,the power transmission design of the motor shaft and encoder shaft and the C-leg,The overall size of the robot and the placement of each module are designed to meet the basic mechanical structure requirements of the quadruped C-leg robot.Then use the STM32RCT6 chip as the control core,combined with the circuit adapter board that encapsulates the CAN communication module,Bluetooth communication module and gyro module,RE35 servo motor and driver,absolute encoder,5000mAh lithium battery pack and other modules to build the communication network And the connection of the circuit,complete the construction of the hardware control system of the quadruped C-shaped robot.Then configure the software of each module,realize the data connection based on Bluetooth and CAN communication,compile the static gait,dynamic gait,climbing gait,and turning gait design of the leg phase control algorithm corresponding to the C-leg robot,introduce STM32 Each module of the system completes the construction of the software control system of the quadruped C-shaped robot through the data receiving process of the US ART serial port and its own IO port.Finally,using Android Studio as a development platform,a remote control platform for a four-legged C-shaped robot is built,which acts as a host computer to send control commands to realize the remote control information interaction between the robot and human.