Research On Walking Of Quadruped Search-rescue Robot Based On Earthquake Environment Modeling

The succors can be replaced by quadruped search-rescue robot in the dangerous rescuing after earthquakes. In recent years, many seismic took place frequently all over the world, especially after Wen Chuan earthquake, it is urgent demand that one kind of robot which can replace succors search and rescue lives. Traditionally, most robots are wheel-legged or crawler-type, they cannot completely adapt the environment after earthquake and cannot search and rescue caused by kinds of reasons. Therefore, we demand hurriedly to find a way that can search and rescue people safety and quickly. This research focus on a quadruped robot which can not only adapt to unstructured terrain, but also find lives accurately.This article based on the walking analysis of chimpanzees and other quadruped animals like dogs. Through the contrast of kinematics characteristics between chimpanzees and dogs, and combine the characteristics of robot, kinematic analysis and kinematic simulation are available for the quadruped robot we researched in this article.Another key point is through compare the kinematics characteristics between chimpanzees and dogs, analysis imitation reptiles’cycle gait of the robot. It is mainly includes low-speed gait, normal gait and high-speed gait, and analysis the gait adjustment during walking on the view of gravity.In this article, we use VRML modeling language designed the based on Delaunay triangulated irregular terrain constraints in the value structure method to rebuild the earthquake environment. Through the generation of the contour line data, use Delaunay triangulation method to improve the contour model, design the constraint value constructor optimize the Delaunay triangulation model, create the simulated earthquake environment.Finally, under the matlab and simulink environment, simulated quadruped search-rescue robot walking experiment under earthquake environment. Applicating gait switching algorithm, a gait to switch based on this algorithm on different topographic features, arriving scheduled rescue location under obstacle avoidance premise to prove the reasonable of theoretical research.