Motion Control Of Quadruped Based On The Force And Position Compliant Control

The quadruped robot has more stability and load capacity than biped humanoid robot, and moresimple in structure and control than hexapods or eight-legged robot. It will be first practical inwalking robots, is the research hot spot of walking robot, having the broad application prospect.First, the situation and development trend in the quadruped robot field at home and aboard areintroduced. Then it describes the structcture and drive method of the quadruped robot. The kinematicsmodel is set up, taking the parameters of the robot’s posture into account. The forward and inversekinematics of the quadruped are analysed. The robot kinematics equation and inverse kinematicssolution are deduced. The posture detection module was designed, using LPR530AL and LY530ALHconsisting of3axis angular velocity detection module, ADXL335is adopted to formthree-dimensional acceleration detection module. Using the quatternion and trgonometric function,the solutions between posture of robot and sensor’s signal are studied. The three-dimensional forcesensors are installed at the foot end of robot. Through the static calibration, the decoupling matrixes ofthe three-dimensional force sensors are obtained. After collecting the force of the robot’s motion,throught the anlysis of stress condition of robot, the strategy of force and postion control is designed.Design of the quadruped robot single leg force compliant control algorithm, it is validated thealgorithm through the hardware-in-the-loop simulation platform. The force feedback control strategyrealizes the stable motion of the quadruped robot in the ground, reducing the impact force. Finally, theremote control system based on mobile network is designed, validating the feasibiliy of the remotecontrol system.