Quadruped Walking Robot Modeling And Control Method

Nowadays,research on quadruped walking robots has been making great progress but there is still along distance to reality.While biological locomotion has inspired the creation of a number of legged vehicles over the past several decades,the development of an artificial system with the high-speed performance capability described above has remained elusive.Numerous legged robots have been built, although these machines employed statically stable walking gaits,which are relatively slow and require the vertical projection of the center of mass to remain within the support polygon of the feet at all times.Recently,far fewer legged vehicles have been developed that are capable of dynamic running.However,their robot demonstrated no heading control,a fundamental feature of biological locomotion.Consequently,the resulting gait appears to be of limited use in studying high-speed dynamic maneuvers.In this paper,the kinematical and dynamic model to be controlled is presented first. Following this,the bionic controller architecture is presented,starting with a description of each of the leg-level primitive functions.The coordination level,which exists above the primitive functions,is described next.Then,the sequence level of the controller is presented,where individual behaviors can be chained together to realize a series of actions.Finally,we gained continuous gaits for quadruped robots capable of performing statically stable,omnidirectional locomotion on irregular terrain.The concept of decomposing high-level behaviors into low-level control of standing and swing leg,when performing dynamic walking,has been proposed based on the analysis of the spring loaded inverted pendulum,and quadruped walking can be achieved as form of transform and assembly.We designed the diagonal supporting, slow dragging,and four feet supporting virtual component,presented the simple intuitive control strategies for dynamic gaits of quadruped based on virtual model.Furthermore,this dissertation is finally focused on quadruped robot environment recognition.Following this,presented an adaptive leading control method,and the designed robot which have vision system and range finder can achieve autonomously and continuously walking gaits.The designed quadruped robot can complete steady periodic motion with a velocity of 1/4-1/2 body length per second(0.16-0.32m/s),walk with several gaits such as trot and walk,transfer between any two gaits,have unstructured-environmental adaptability to some degree and can walk on rough terrain with 30mm-in-height obstacle(20%to leg length).The simulation experiments proved the bionic level motion-controlling method is better than the traditional method with simpler control,stronger environmental adaptability and higher velocity.