Key Technology Research On Control System Of Bionic Quadruped Robot

More than 50% of the land area is rugged jungles, hills and mountains and other complex terrain. But it is difficult to walk fast and stable for tracked and wheeled robots in this complex environment. while the four-legged robot, which can be used to complete the material transport, disaster relief and rescue, field exploration and other tasks, can move flexibly and can be stabilized in a complex environment. As far as the shortcoming of robot is concerned, this paper focuses on a study related to its control system technology according to the quadruped robot developed by our lab.Firstly, this paper introducts the basic structure of the robot, and analyzes its working principle, application environment and sub-systems. According to the analysis and comparison of the control architecture, the complex control system combined a layered control systems and distributed control systems is designed. Secondly, this paper selects S5PV210,STM32F407, STM32F405 as the main chip of the three control layers and implement circuits of all kinds of functions such network ports, attitude sensors, pressure sensor hardware design. Again, a top-down software development work carries out. In the PC application development carried out to establish the man-machine friendly control interface in Visual Studio 2010. In central control layer Linux operating system is ported, the associated driver development and application development, implementation of the sub-system functions are done. Coordination layer uses the interpolation algorithm to achieve robot’s smooth motion. Servo layer uses Intelligent Fuzzy PID algorithm to control the servo valve. Finally,this article also uses the DH method to solve the inverse kinematics of the robot and the displacement of hydraulic cylinders according to mechanical structure. then uses the classic trajectory curve for planning, calculating robots each cylinder displacement curve.Based on the above work, our team carry out experiments on the robot from top to bottom. First we conduct experiments on servo system. It meets the test requirements as far as the respondence to a variety of signals to is concerned. Finally, the hydraulic bionic quadruped robot is experimented. According to the feedback from the sensor data, the test results are satisfactory, which indicates that the robot control system is reliable and can meet the test requirements. The results which this paper does can provide useful technical reference for the research, and can promote technological progress in related fields.