Research And Design Of Real-time Control System For Quadruped Bionic Robot

At present, robots have been applied to more and more fields. Quadruped bionic robots, which can walk in the rough road as human or animal, have exhibited better performance than wheel, caterpillar robots. They do not require the even road. They can walk freely with some isolated footholds, even in such a steep, wet, muddy ground or snow environment.A real time control system is the premise of the quadruped bionic robot which relies on many kinds of sensors for navigation, localization, tracking goal and other missions. Partly supported by the863national project "research on the key techniques of high performance quadruped bionic robot"(No:2011AA041001), this dissertation researches and designs the control system for quadruped bionic robot. The main research contents are as follows:A) Firstly, this paper expounds the research progress of the quadruped bionic robot, introduces the topic source and states the main research contents and the organizational structure.B) The control system platform for quadruped bionic robot including the structure of the hardware platform and software platform is designed. The system is designed in hierarchical control mode. According to the system’s different functions, the control system is divided into two main levels, one is the main control system--the direct-control layer, and the other is the environmental perception layer. By the division and cooperation of both levels of the system, the real-time control performance and stability of the system have been improved.C) By using of Adams and Simulink, the dissertation realizes the simulation control of the quadruped bionic robot’s virtual prototype, tests the control strategy of trot gait, and describes the centroid displacement curve by the post-processing ability of the Adams. With the virtual prototype technology, the simplified and virtual prototype of the quadruped bionic robot is designed for control simulation to avoid the high manufacturing cost and the long cycle and so on.D) According to the characteristics of the grid map, the improved genetic algorithm is designed for path planning of mobile robot. Based on the grid map which has been dealed with free space method previously, the improved genetic algorithm can find the optimal path for mobile robots.E) At the end, the conclusions are given and the future work is prospected.