Gait Planning And Simulation Of Quadruped Robot

According to the investigation, nearly half of the ground on the earth can not be reached by traditional wheel or pedrail vehicles, while many multi-leg animals can walk on it freely. Compared to the wheel or pedrail robots, the locomotion of the legged robot has some unique capabilities.They have stronger adaptability to the complex changeable ground. The falling feet spots are discrete, so their feet tips can adjust the walking gesture within the reachable areas and choose the proper supporting pots. Furthermore, the vibration can be isolated by the legged robot's locomotion system independently, that is to say, it allows body moving track and feet moving track relieve coupling. Although the ground is uneven, the robot can walk smoothly. Many experts from different countries pay more attentions on the legged robot, which becomes the key and hot point in robot study field.A conventional walking robot and a new quadruped robot with waist-joint are analyzed comparatively in this paper. The gait planning and simulation research are done by Pro/E and ADAMS.The details are as follows:Firstly, the structure characteristics of two quadruped robots were analyzed comparatively. Three-dimensional model of quadruped robot was built up by Pro/E. The virtual prototype of quadruped robot was presented in ADAMS by the interface module Mechanism/Pro.Secondly, the basic knowledge of gait and stability principles were analyzed.The straight-walking gait,stand-still turning gait and laterally walking gait were planned. The gait simulation was done in ADAMS. We got the displacement curves of quadruped robot center of gravity and the drive torque of joints.Finally, the physical prototype of quadruped robot was built based on the structural of quadruped robot. We have successfully controlled servos by a single AT89C52 SCM. We have also realized the velocity control of servo.Gait experiment of physical prototype verifies the simulation results from ADAMS.Therefore, the simulation and experimental results show that the quadruped robot with waist-joint can walk steadily through the planned gait. And the correctness and feasibleness.of the proposed plan were proved by the results.