Quadruped Robot Motion Planning And Balance Control

For the past few years, China has gradually increased the proportion of nuclear power. Nuclear power has played a huge role in the country’s construction and people’s life. But the nuclear leakage accident in fukushima Japan in 2011 made us think about how to minimize the loss in a similar accident.This dissertation is derived from the national 973 plan key basic research project”Nuclear power plant emergency relief robot basic scientific problems”. This paper aims to improve stability in quadruped robot locomotion. Firstly, this paper studied the stability condition in quadruped locomotion, and formed stability criterion based on Center of Gravity(COG) and Zero-Moment Point(ZMP), further revealed DoubleSupport Triangle stability region for this crawl gait with specific swing leg sequence.This paper put forward a variety of different COG and swing leg tip trajectory planning with fixed COG phase that improved stability regarding to trajectory planning with unfixed COG; For the disturbance in the process of quadruped robot trajectory deployment, this paper designed balance controller based on leg tip movement, which didn’t require torque mechanisms. Balance Controller improved the anti-interference ability for quadruped robot in the process of movement; Finally, for complex terrain conditions, this paper proposed an optimal step point selection method based on logistic regression model and expert learning strategy. The validation work of this paper is through Matlab and robot simulation platform software RecurDyn, trajectory planning,balance control method and the step point selection method is verified by Matlab and RecurDyn, the validity of the proposed method is confirmed.