A Research On Gait Plan And Motion Control Of Quadruped Robot

Robot technology is one of the hotspots in the development of science and technology.Quadruped robot not only can be used in military field,but also can be used in the commercial areas,like transportation and family services,quadruped robot is of better application value.The research on the gait planning and motion control of the quadruped robot is key to practical application of the robot.This paper based on ADAMS simulation platform,does some research on triangle gait and trot gait,and based on triangle gait,does some research on trajectory planning control and attitude feedback control by using the union simulation of MATLAB and ADAMS.The kinematics forward and inverse problem is solved by using the D-H coordinate method,that will be helpful to know the relationship between the foot coordinate relative to the fuselage coordinate and the rotation variables of each joints.The single leg linkage system of quadruped robot is deduced by using the Euler Lagrange equation,this will be helpful to understand the relationship between connecting rod force,rotation angle,angular velocity and angular acceleration.This paper introduces the basic gait of quadruped robot and ADAMS motion simulation platform.In the ADAMS simulation environment,the diagonal gait and the triangle gait of the quadruped robot are designed by using the sine function and the half wave function.and then analyses the motion of two kinds of gaits.Based on the triangle gait,the trajectory of the quadruped robot is redesigned and kinematics calculation of D-H method is verified by using MATLAB Simmechanics toolbox.This paper introduces the application of MATLAB and ADAMS union simulation on quadruped robot,and realizes the trajectory planning control and attitude angle feedback control by union simulation.The verification platform of quadruped robot are introduced.The mechanical structure of quadruped robot is designed by Solidworks.Using Altium Designer design circuit control system schematic and PCB board.On the basis of the hardware platform,the embedded software is designed,which can realize the movement of diagonal gait and triangle gait under the ?C/OS-II operating system.