Simulation Of Trot Gait For Quadruped Robot Based On Cosine Oscillator

Simulating the motion control mechanism of invertebrates, which is applied to the motion control of robot after simplified the improved, is currentl y the largest potential control method. Among them, the complexity of CPG-based motion control method modeling is low, with easy level control and feedback regulation and high self- adaptability and stabil ity, which is concerned by more and more researchers.The paper are mainly from the followi ng aspects:Analyze the legs of the four- leg animals such as the dog and the horse to find their structural characteristics as the basis bionic, and select the style of front elbow and behind knee as the leg structure confi guration of quadruped robot. Build the robot kine mat ics model by us ing D- H met hod, analyze the forward and inverse kinemat ics of the robot by using homogeneous coordinate transformation method to lay the foundation for motion simulation and control theory.By comparing the advantages of biological control methods and following the CPG control mechanism of biological rhythms movement, establish the CPG cosine oscillator, and construct the two layers network structure of CPG network model. Gait planning of the quadruped robot, and obtain the amplitude oscillation of each joint on the basis of the cosine CPG network model.Establis h a vir tua l prototype, and quadruped robot us ing trot gait have kinemat ics and dyna mics simulat io n in the p lain in ADAMS environme nt. Then, analyze and obtain o f the e xperime nta l res ults, va lidat ing that t he quadr uped robot based on cosine osc illator can achie ve trot ga it wa lk ing stra ight, and provid ing a basis for select the late-driven approach.Imitate quadruped mot io n across the gu lly mecha nis m, establish of quadruped robot gully terra in sport mode and C PG model, and have mot io n simulat io n e xperiment in ADAMS software. The n, based on the simulat io n data of quadruped robot walk ing in t he pla in and across the gully terra in, co mb ine t he ana lys is of var ious types of dr ive syste m and servos, and select jo int drive servos. Under the laboratory cond it io ns, assemb le t he quadruped robot phys ica l prototypes and have robot walking in the plain and gully experiments.