Study On Control Of A Quadruped Biomimetic Robot Trot

Building robots that mimic living creatures has become a worldwide trend inrobotics research because biological systems provide many useful ideas concerningmodern engineering problems. Quadruped robot is a significant subfield of mobile robot.Since its capacity and stability is better than biped mobile robot, and at the same timethe structure is simpler than multi-legged robot, the research on it receives greaterattention of the world.Modeling, gait generation and control technology is the key problem of theresearch on quadruped robot and it’s important to improve the robot’s stability,movement speed and adaptability to the environment. At present, the main research ongait generation for quadruped robot is focused on the static gait. However, dynamic gaitis more advantage on improving the moving speed. Also because of such, in recentyears, more and more scholars become involved in the dynamic gait research. At thesame time, trotting gait, as the common type of dynamic gait, is becoming more valuedthan before.The paper focuses on the research of trotting gait planning of the high performancequadruped robot gait planning. The essential purpose is to achieve the movement of legsmotion planning of the quadruped robot, according to the parameters requirement ofdirection and velocity when trotting, complete the robot motion planning, and sendinstructions to the joints.Quadruped robot is a complicated system with many degrees of freedom. Thispaper, first of all, analyzed kinematics of swinging leg and support legs according to theprinciple of bionics and the kinematic characteristics of quadruped robot. Then find outthe velocity and acceleration calculation methods of the legs and body speed estimationalgorithm in the trot gait. In addition, in order to simplify the robot dynamics model andthe analysis calculation, the spring load inverted pendulum (SLIP) dynamiccharacteristics is set up, according to the running virtual leg and biologicalcharacteristics in trot gait motion process of quadruped robot. Thus, we can establishstability judgment rules of quadruped bionic robot with trot gait and control strategies on the basis of SLIP model, and an intelligent control algorithm to optimize the keyparameters. According to the above, we realized the quadruped robot trotting run insimulation environment.Finally, the real-time high-speed control system of quadruped robot is proposed.Control code is carried out in the real robot prototype experiments, achieved goodexpectation speed curve track and the attitude control of the robot; prove the correctnessof the theoretical analysis of the control system.