Walking Control Simulation And Experiment Of A Hydraulically-actuated Quadruped Robot

Quadruped robot technique is an important branch of the robotics techniques. It is widely used in the field of geographical exploration, transportation, disaster relief, due to the flexibility of its movement, stability, and adaptability. The hydraulically actuated quadruped robot has a huge application potential in the field of heavy load robot, because of the hydraulic drive with the characteristics of high power density, fast response. The hydraulic system is nonlinear, so there is a certain difficulty in hydraulic control under a large load capacity. This thesis is forcus on the problems of the qruaduped robot motion control, and solves it with simulation and experiment method.The thesis uses the D-H method to build the forward and inverse kinematics models. And derives the kinematics formula. It sets up a relationship between the robot leg movement variables and the driving variables according to the hydraulic cylinder movement, and determines the movement space of rhe leg.The thesis plans a walking strategy according to the principle of quadruped robot motion stability and the available movement space of the leg. It is used the force Jacobian matrix to analysis the joint force of the robot, so that it can determine the parameters of the strategy.The thesis builds the quadruped robot simulation model in the ADMAMS software and writes the drive function. It is used simulation methed to verify the validity of the strategy. It uses the LabVIEW software to build a real-time hydraulic quadruped robot control platform. The thesis proposes a PID control strategy to improve the hydraulic cylinder position tracking proformance against the problem of the deadband. At last, the thesis makes the robot move stably by the center of gravity control using the foot force sensor.