Research On Typical Gait Of Quadruped Robot On Structured Terrain

The traditional wheel or pedrail type mobile robot is more suitable for the operation on the flat road, and the robot walking in the rugged uneven road has more advantages than wheel or pedrail type mobile robots, Due to the quadruped robot is superior to the biped robot in the stability and carrying capacity, and more simpler in the structure and control than hexapod and eight-legged robot in the structure and control, so the quadruped robot becomes one of the hotspots in the research field of moving machines.This paper mainly studied the typical method of quadruped robot gait planning. Through the experimental results verify the validity and feasibility of the related approaches. The research contents are as follows:First, the paper has introduced the institutions characteristics of quadruped robot, the expression method of motion way, builted the robot single leg kinematics equation with D-H coordinates, and completed the positive solution and inverse solution the robot legs kinematics.Second, the methods of gait and stability margin were introduced. The typical gaits of the plane straight walk, the plane to turn, slope creep and crawling steps were designed. For plane straight walk, it has designed two gaits, the uniform and not uniform speed of robot centroid, and done a comparative study on the motion characteristics and the joint forces; According to the turning of the plane, it has put forward fixed-point turning principle, designed two gaits of left turn and right turn, and done a comparative study on the two gait movement characteristics and the joint forces of a single leg; For robot of slope creep gait, this paper introduced slope creep method, stability calculation method of slope creep, the best method of the trajectory path selection for single leg slope creep, and had a simulation contrast to the walking with 5 degrees, 10 degrees and 15 degrees three different slope; In section of robot crawling steps, all kinds of main steps were classified, and had the kinematics simulation contrast to the crawling robot up and down steps.Third, it has designed a quadruped robot principle prototype, and completed the structure design, driving circuit design, software design.The fourth, through the finished quadruped robot, it has done the experiment about the plane straight walk, the plane to turn, slope creep and crawling steps, at the same time, compared with the foregoing simulation.