The Planning Method For The Kinematics Of The Quadruped Robot Based On The Motion Constraints

Human understand and transform nature, and constantly get inspiration and enlightenment from nature. Animal life is a miracle of nature, imitating animals and nature can make comparable biomimetic robots has been the dream of mankind is not yet complete. The majority of animals are quadrupeds, in running speed, complex terrain adaptation, flexible movement, they have been outstanding. In the millions of years of evolution, quadrupeds fully demonstrated a talent for cr eative force of nature. It is hoped that obtain inspiration from these millions years of experience to imitate quadrupeds in different levels, and creat a quadruped bionic robot which run fast, move flexible and able to adapt to complex terrain.This paper focuses on the biological planning approach of quadruped robot, works as follows:(1) By comparing the domestic and foreign researchs, we can know there is a certain gap. The National 863 Project "quadruped bionic robot research performance" promoted the research of the quadruped robot theory in many universities, and developed five quadruped bionic robot prototype. The gap is narrowing, there are still many research work to do.(2) Paper introduced the concept of central pattern generator model and take advantage of Matsuoka oscillator model which improved by Tsinghua University, for biological planning quadruped robot studied the feasibility of biological planning. This paper described the planning process of biological movement, desired and deduced the knee, ankle, hip joint movement before the constraint equations and foot trajectory equation, combined with central pattern generator generates planning curve.(3) By combining the characteristics of physical structure of quadruped robot in our staff room to build a emulational model of central pattern generator to study the simulation parameter selection and influence of adjusting parameters online for the planning period and value, and through genetic algorithm to optimize the parameters. Optimized results have been applied to the simulation, and then achieve a smooth curve with stable oscillation, which meet the planning requirements of quadruped robot. Based on the selected parameters, researched on dynamic and static conversion, the central pattern generator realized static and dynamic gait transition, and did research of dynamic and static conversion on the gait transition which proved that the central pattern generator can bedjusted online by simply changing a single parameter.(4) Introduced the hardware architecture of quadruped robot developed by the National Defense University, designed quadruped robot motion control software and remote control software, detailed design process, and on this basis to do the simulation experiments, such as periodic gait, dynamic and static conversion and gait movement conversion. Finally, the conversion online of motionless and movement and gait diversity of robot had been realized.