Primary Study On Gait Planning And Motion Stability Control Of Little Quadruped Robot

The quadruped robot has been widely researched and used in many fields, it has importantresearch significance and broad development prospect. The study on quadruped robot which involvesbiological mechanics, mechanical kinematics, dynamics, control subjects, computer technology,sensor technology and so on. One of the key of study is its stable momvement gait and reliable motioncontrol system. This paper takes little quadruped robot as the research object, the main work andinnovations are as follows.Firstly, the background and studies of quadruped robot is introduced. Based on body structure ofquadruped mammal, a bionic quadruped robot is designed. According to the characteristics andmovement of quadruped robot, a small steering gear driving mode is chose. Then the forward andinverse kinematics of a single leg is analyzed, and the kinematics equations and inverse kinematicsare derived and verified in SimMechanics, these lay a theoretical foundation for the subsequentmomvent stability. Based on SimMechanics, the model of gait planning is built. By setting parametersof gait and using the model of gait planning, a group of diagonal gait and triangle gait is planned, andthen the accuracy and feasibility of the gaits are verified.Secondly, dynamic model of quadruped robot is created in Matlab, and the force of the feetwhich is considered as spring-damp model is collected and feedback. The center of gravity projectionmethod is chose to determine the static stability of the robot under triangle gait. The criterion forcomprehensive stability which is based on consideration of ZMP/COP and COG is chose to determinethe dynamic stability under diagonal gait, and the result of simulation experiment shows that thismethod is better than single ZMP criterion.Thirdly, a control system which is based on STM32F103VET6is designed to achieve stablemovement by controlling the movement of each joint on the ground under diagonal gait and trianglegait, and then the feasibility and rationality of the control system are verified.