Decoupling Control Strategy Of Quadruped Robot Trotting Gait

Robotics is one of the frontier technologies that belongs to the most rapid development.Especially in recent years,various of robots have already enter into our daily life.Such as: Sweeping robot,Guiding robot,Surgical robot,Entertainment Robot,etc.Current robot technology is not mature enough for the growing market demand of robots.Especially for the motion control technology of legged robot whose key technologies need to be breakthrough to utilization.Quadruped robot is a highly nonlinear and coupling mechanical system,the precise motion control for the whole robot is quite complicated.This paper studies the decoupling control method of the trot gait of quadruped robot,including the simplified model foe single leg,modeling,analysis of biped robot decoupling control method,decoupling control for quadruped robot,distribution for joint torque,the constraints of joint torque etc.The main work and production of the paper are as follows:1,The single leg is simplified to spring leg from joint leg,and explain the rationality of the simplify for kinematics and dynamics.And develop the kinematics and dynamics model of biped robot and quadruped robot.2,Study the decoupling control method of biped robot.The pitch,the height of center of mass and the speed of the robot are controlled by three independent channels.Simulations based on matlab/simmechanics are carried out to test the control method.3,The model of biped robot and quadruped robot are compared to analyze the similarities and differences,then the decoupling control method of biped robot is extended to quadruped robot trot gait,and eventually the decoupling control for quadruped robot is achieved.4,In a practical system,the force of the feet must be constrained in friction cone.Therefore,a method of distribution for joint torque is presented to make the possibility of sliding to be the smallest.