Dynamic Modeling And Character Research Of Spinal Quadruped Robot With Bounding Gait

Quadruped robot can go through unstructured environment fast with the beststability and the less complexity. Higher and higher petitions of robot s speed, efficiencyand flexibility were asked by people, while most of the robots nowadays can onlyrealize static walking or low speed dynamic running. However, the biological studyshows that bounding gait is a typically used symmetrical mid-high-speed gait inanimals.And many legged animals use spine to provide additional power and flexibility.While the corresponding study on spinal robot theory and control is less thanadequate. Through the spinal quadruped robot s bounding gait research,the spinal mechanisms will be further clarified. And It has important significance onthe development of high speed dynamic running robot in reality.This project is founded by National Natural Science Foundation of China(NO.61005076) with the topic of Spine type quadruped robot s energy circulation,structure and motion parameters optimization research. This subject is concentrated onresolving the spine type quadruped robot s dynamic modeling, stable controlling ofbounding gait, energy circulation researching, structure, locomotion parametersoptimization and some other related areas.This thesis analyzed the characteristics of quadruped animal s running gaitand spinal motion, Ensured the spinal quadruped robot with bounding gait as the studytopic. A simplified model to meet the needs of analysis based on the typicalcharacteristics of bounding gait was built. Corresponding dynamic model and thegeneralized force equation based on active force exert on the robot had been established.The function of spine on speed and the system was evaluated. And a new kind of spinecontrol strategy which named Various shoulder-hip distance spine control strategy hadbeen proposed for the real robot control.To meet the control goal of higher efficiency,acceleration and more accurate speedcontrol in touch down phase, a new spinal quadruped robot with bounding gait controlstrategy was proposed to control horizontal velocity, vertical height and pitch angleaccording to the kinetic equation and spine function mechanism assumptions. All thework done has created the conditions for the development of high speed quadruped robot running.Finally, An co-simulation platform for quadruped robot bounding gait has beenbuilt. Spine mechanism hypothesis verification comparative test methods are proposed.Bounding gait control experiments and analysis of results are taken into consideration.