The Gait Design And Controlof A Wheel-legged Robot-Rolling-Wolf

In recent years, research objects in robotics are mainly concentrated in traditional mobile robot platforms such as wheel, crawler and leg-type both at domestic and aboard,these types of robots are relatively complete in structural design, and play irreplaceable roles in different fields such as military equipment, planetary exploration, resource exploration, rescue service and so on.However, unlike traditional robot structure,composite structure as a new robot structure which combines a variety of structure design gradually gets wide attentions and lots of research and has made great developments.The research object in this paper is a high-performance mobile robot platform with composite structure—a four wheel-legged robotnamed Rolling-Wolf,the robot combines with the advantages of wheeled and legged robots,and has stronger bearing capacity, better the barrier ability, better performance and stability structures at the same time.According to the characteristics of Rolling-Wolf robot, the kinematics modeling, gait planning, gait simulation, control system design and experimental verification and other multiple related research have been carried on in this paper, specific as follows:(1) We establish the forward and inverse robot kinematic model of Rolling-Wolf through the D-H kinematics method, then, the analytic geometry method is used to compute the kinematics model again, we compare the results of the two methods and choose the optimal one to establish the theoretical basis for subsequent chapters;(2) We introduce basic concepts and classifications of the gait of quadruped robot,and choose the appropriate walking gait on the flat ground for Rolling–Wolf, trajectory planningof single leg for Rolling-Wolf has been raised at the same time,and we decide the lifts order of the walking gait on the flat ground. Finally,we have compared walking gait with attitude adjustment and continuous walking gait, and design a reasonable continuous walking gait for the robot;(3) In order to conduct the kinematics simulation of walking gait on the flat ground, we compute the control parameters of the motors firstly, and import the calculated results into ADAMS kinematics simulation software to conduct the software simulation of the walking gait,furtherly we measure and analysis centroid-displacement data of several key components of body to verify the accuracy of the gait;(4) We complete overall scheme design of Rolling-Wolf's control system, we try to improve structure design of Rolling-Wolf robot control system respectively from hardware design and control algorithm, and plan three different kinds of operation modes and the whole control process.We conduct the gait experiment in the last, verify the validity of the gaits we plan, and analyze the experiment results.