Motion Control Method And Energy-efficient Legs Structure Design And Analysis For Quadruped Robot

By far, the main moving forms of robot include wheeled moving, legged moving and tracked moving, etc. Imitating the movement of animal, and performing a movement using legs and feet, legged robots have a series of advantages such as environmental adaptability, flexible movement, active vibration isolation, and low energy consumption, etc. As a kind of legged robots, the quadruped robot with strong load-carrying capacity, good stability, environmental adaptability and so on, has become a hot spot of the robot research. It is widely used in the military, civilian goods transportation, planetary exploration, and agricultural production field.In this paper, several aspects including biologically inspired motion control theory, foot trajectory planning control theory, bionic mechanical structure design and virtual prototype simulation, have been further researched. Details are as follows:(1) The background and the significance of the research of the quadruped robot, the current research situation of CPG and the research status of quadruped robot both in domestic and abroad are summarized.(2) The CPG robot control model based on coupled oscillator is analyzed, and then a sine function CPG model which is intuitive and easy to realize a variety of gaits is put forward, and then a simulation analysis is done. The simulation results show that the sine function CPG model can better control the trot gait of quadruped robot.(3) The current foot trajectory planning control methods are analyzed, and then a foot trajectory of three-stage combined sine is designed. A simulation analysis is performed after establishing its control system model. The simulation results show that this foot trajectory control model can do stable moving of quadruped robot, and the landing impact of swing feet is low.(4) The structure of the foot of quadruped robot is improved, a foot arch structure is put forward and a kinematics analysis and simulation are done. The simulation results show that the arch structure can effectively prevent foot slippage, make buffer and energy storage, and improve the stability of motion.(5) Finally, a energy-saving leg model which is made of thigh and shin for integrative structure is put forward. The dynamic analysis and simulation for this model are done. The integrative leg structure make the quadruped robot moving only by applying a drive at the hip joints. It has the advantages of buffer and energy storage, low energy consumption etc.