The Design And Research Of A Bionic Hydraulic Quadruped Robot Gait Generator

In recent years, with the increasing development and gradually improve of intelligenttechnology and robot technology, robot has been gradually replaced human to do difficult,arduous, dangerous kind of work such as military reconnaissance, resource exploration,goods delivery. Especially in the situations which has very poor terrain conditions and verycomplex working environment robot has becomed an indispensable helper of mankind. Aswe all know, In China more than half of the region is rugged mountains or swamps.Ordinary wheeled or tracked mobile platform is difficult to carry out these task in suchareas. Compared with wheeled or tracked mobile platform of general, bionic quadrupedrobot has strong maneuverability to adapt to unstructured ground, which can solve theproblems above, so we should be carry out systematic study of bionic quadruped robot.Moreover, the motion control is the most import factor to realize the robot’s excellentmovement, so to develop the motion control system of the robot is very important andfar-reaching. This paper explored and discussed the technology realization of gait algorithmbased on domestic and international intelligent mine present research, development trendand system study.This paper based on a bionic hydraulic quadruped robot which is studing by theInnovation Center of special robot in Beijing Institute of Technology. Intends to study thegait algorithm of the robot, to achieve steady walking of the robot. Firstly, introducted theapplication environment, mechanical structure and the way to build control system of thisrobot. Secondly, tended to do systematic research and thorough analysis in adaptivewalking control algorithm by imitating the mechanism of biological rhythmic motion andreflex. Designed a CPG network model and the control strategy of hip/knee joint trajectoryis set up, which aims to realize the typical gaits of quadruped robot on flat ground. This partalso dealed with the numerical simulation of the CPG network model in Simulink.Then,choosed FPGA as the core chip of the CPG algorithm. Completed the design of itshardware circuit, which include the circuit design of minimum system of FPGA, circuitdesign of serial communication and circuit design of CAN bus. Also planned the overallworkflow and function modules of software systems which include the realization of CPGalgorithm, transformations from Simulink models to hardware coder, the NiosⅡ system ofgait genetor, the serial communication based on RS232and the communication software based on CAN.On the basis of the design of the hardware and software of the gait builder, weconducted comprehensive experimental testing. Firstly, completed the serialcommunication experiments by RS232, to verify the reliability of communication, in orderto ensure the effectiveness when transfers information between the gait generator and thehost or the computer. Secondly, completed the FPGA-in-the-loop simulation of CPGalgorithm and compared this result with the simulation result in the software which canverify the reliability of this gait algorithm truly and visually. Finally, completed of theexperiment based on CAN bus communication, which verified this CAN bus can realizeeffective communication between gait generator and executive drive, has high reliabilitydata communication and good robustness and can meet the system requirements. The studyin this paper lay a technical foundation for the future work of the bionic hydraulicquadruped robot. The achievements can provide reference for related field.