Gait And Route Plan Of Quadruped Robot

Robot application has extended to other fields of society form industry field gradually.With the development of technology and the progress of society, the demand for servicerobot will continue to expand and the performance requirement is rising too. As one ofservice robots, quadruped bionic robot faces a series of new challenges such as kinematicsanalysis, dynamics and control, motion planning. The paper is about to study for theseproblems, and the work as flowing involved is completed.1．Quadruped robot kinematics is analyzed. According to the joint arranging of oneleg, D-H coordinate system is constructed, in the D-H coordinate, the prosthetickinematics of leg is analyzed. By the consideration of robot s balance, the inversekinematics of leg is got. Meanwhile, a way to find the real-time position of the gravitycenter is found by using the function to centroid mark of ADAMS.2．A platform for co-simulation is built. To know how the information changes in theway of translating3D model into ADAMS from3D software, a test study is done. Thecontrol model of quadruped robot in Simulink is completed. The analysis about how tochoose the parameters of PID control module is also done. At last, a simulation for thequadruped robot’s stand action and state gait is completed, the information of joint torqueis known for the design of hydraulic cylinder.3．Refer to the parameters of cheetah s bone and the bionic study to high speedrunning of cheetah, trot gait of quadruped robot is designed. The information about theforce between leg and ground is got from ADAMS simulation.4．The research is completed for the route planning of the quadruped robot on theirregular terrain by the base of genetic algorithm. The stable movement of the quadrupedrobot on irregular ground comes true. The new way for the planning is proved by thesimulation in Matlab.The achievement from the study in the paper can offer useful reference to theresearch of quadruped robot.