Quadruped Bionic Robot Pose Estimation And Stability Analysis

Four-foot bionic robots are considered as the best type of foot-type robots, four-foot robots are more stability than two-foot humanoid robots and more easily controllable than six-foot and eight-foot robots. In this paper, focusing on the requirement of the coordination planning layer of four-foot bionic robots, establishing the the geometric structure model to provide the attitude parameters and planning basis for the coordination planning layer.By analyzing the movement characteristics of each mechanical components of four-foot bionic robots, the geometric structure model, that is to say, the Cartesian space coordinate of the movement joints, of the four-foot robots is established, we make the geographic coordinate that the robots starting time is corresponding to as the global coordinate. According to the geometric structure model, the stability of static walking and quadruped trotting are analyzed.Firstly, each movement joint’s coordinate is established to get the conjoined transform relationship, and then the attitude parameters are obtained to provide the parameters for gait stability.Secondly, the walking manners of robots are analyzed under the static walking, and then the stable region is determined. Based on the relation of the centroid and supporting points, this paper study and provide the judgement rule of the gait stability.Finally, the movement characteristic of quadruped troting is analyzed and the attitude declination is definited. Based on the speed and direction of motion, the trajectory of center of mass is obtained. Based on the trajectory of center of mass, we can get angle’s change law of the attitede declination. Through the simulation, the validity of the judgement rule is provided.