Research On Gait Planning And Control Of Quadruped Robot

Robotics is one of the most popular areas of scientific community, and is becoming animportant breakthrough point of “Industrie4.0”. In the field of robot, quadruped robot havebecome the focal points of study because of its strong load capacity, good environmentaladaptability and high stability. But now most developed quadruped robots have3DOF of eachleg, which makes the control algorithms complicated, and difficult to decouple angle of eachjoint. It also raise the hurdle of studying the robotics theory, and hindered quadruped robot inthe actual application of promotion and transition process. In order to solve this problem, thisarticle is produced a quadruped robot with the leg mechanism of1-DOF, and launched thefollowing works:Firstly, the background and studies of quadruped robot is introduced briefly, and lists thecurrent advanced quadruped robot. Then summarizes the gait planning and control ofquadruped robot in detail, and researches respectively on the gait generation, stability andcontrol, finally find out an ideal1-DOF linkage, the Chebyshev-linkage.Secondly, a mathematical model of robot is established for calculate the joint rotationangles, and utilize kinematics analysis to solve the position and orientation of quadruped robot.Those matrix equations lay a theoretical foundation to control an actual robot. And then utilizethe D-H model to get the Jacobi-matrix, which is very useful to the research of stability, andthus obtain the methods of stability margin calculation under various gaits.Then a SolidWorks model is put into Adams/View platform, verified the theoreticalanalysis preliminary, and got the displacement, velocity, acceleration and torque curve of therobot mass center in the Cartesian coordinate. These simulation results provide a powerfulmethod to find conclusion defect and optimize it.At last we designed a quadruped robot control system with an AVR MCU of ATMEGA-2561. The experiments of walk, tort, and turning gait were carry out with this robot platform,and the quadruped robot can move to the expect position steadily according to the requirements.The experimental results indicate that the mechanical structure is reasonable, and the stabilitycriterion is correct.