Gait Design And Motion Control Of Modular Bionic Quadruped Robot

Modular reconfigurable robot is a hot research topic in recent years. Because the modular robots have same or similar modules, the modules can be removed or reorganized into different configurations. Multi-legged robot can adjusts the state of each foot to adapt to different walking environment, so it has a low requirement to the walking road. By imitating the nature quadrupeds’ body structure and movement pattern, bionic quadruped robot arises at the historic moment. In this paper, we describe a modular bionic quadruped robot’s gait design and motion control.In this paper, we have designed two kinds of robot movement gait.One of them is a walking gait based on the crucian and the other one is based on typical four-legged mammals-horse. Of course it has certain difference between the robots’movement way and the two kinds of animals’ movement way. But their driving force is roughly consistent. These two gait designs make it more flexible for robot travelling on the road.About robot’s motion control hardware, we adopt NUC100Cortex-MO chip as the central controller, and select multi-channel synchronous control method as servo control. This method has a extremely low requirements for hardwares and it can effectively reduce the manufacturing cost in mass production. Using adaptive control strategy of the central pattern generator for collaborative work between the steering gear, according to the change of the bad road automatically adjust gait.In this paper, the modular bionic quadruped robot research work, especially the research of quadruped robot based on GZ-module I, has laid a certain foundation for subsequent modular bionic quadruped robot research work. And it have a certain effect to promoting domestic and foreign related research.