Vertical Hopping Gait Planning For Single Leg Of Hydraulic Four Legged Robot

Gait planning is the premise of realizing the stable motion of the hydraulic quadruped robot in complex environment,which affects the environment adaptability,stability,power consumption and performance of the robot.So,this paper is in line with the developing platform of the hydraulic four legged robot,which is designed and developed by the laboratory.The specific research contents are as follows:Firstly,according to the hydraulic quadruped robot single leg,forward and inverse kinematics is solved by using D-H analysis method,hydraulic quadruped robot single leg kinematics model is established,the relationship between the relative motion between each joint are studied;the dynamics model is established by Lagrange method,the relationship between single leg movement and robot are studied,which provides theoretical basis for the subsequent joint simulation.Secondly,according to the actual situation of the bionics theory and animal jump,trajectory planning is carried out.Through the motion analysis,the trajectory planning and the joint space and the driving space conversion relation,the drive function of each joint hydraulic cylinder is deduced.Thirdly,the joint simulation of jumping gait is carried out by MATLAB and ADAMS,and the important parameters such as displacement and velocity fluctuation of joint hydraulic cylinder,joints and foot end are obtained and analyzed.The validity and correctness of the jumping gait planning method are verified,which lays the foundation for the following physical experiments.Lastly,the hydraulic physical prototype of quadruped robot experimental platform is built,the robot single leg jump test was conducted,we analyze the experimental data to verify the rationality of the structural design of the robot legs and single leg jumping gait planning is correct.In this paper,the single leg model of hydraulic quadruped robot was taken as the object,it is subjected to vertical hopping gait planning,joint simulation iscompleted by MATLAB and ADAMS,and the gait planning method is designed in the physical prototype experiment.The effectiveness and rationality of single leg hopping gait planning are verified by simulation and experiment.