Research On Crawl Gait Generation And Stability Analysis Method Of Quadruped Robot For Complex Environment

In the development process of the robot,the wheeled mobile robots and crawler mobile robots first came.Because of their weakness of moving on rough road,mire and steps,the foot type robots were invented.The contact with foots and ground is point contact when foot type robots are walking,so they walks flexibly on rough ground.Quadruped mammals are the mock object of the quadruped robot.Compared with bipedal robot,quadruped robot is moving more quickly,loading heavier and walking more stable.However its cost of production is cheaper than multi-legged robot and easier to operation.Based on the advantages of quadruped robot mentioned above,it is widerly used in more and more fields.In order to improve the enironmental adaptation of quadruped robot,firstly focuses on optimizing the discontinual crawl gait to enhance its speed;Secondly a smooth transition algorithm of trot gait and discontinul crawl gait is proposed.The content mainly includes the following aspects:1?Compared two kinds of Jacobian matrices.The kinematics model of the quadruped robot is set up based on the analysis of the topological structure of the quadruped robot.Then baased on the homogenous transformation matrix of the robot,two Jacobian matrices of the quadruped robot are deduced,then,the differential transformation is also discussed based on the coordinates of the quadruped robot compared them and the equivalence relation between the vector product and.which can help the researcher deeply understand the derivation methods of the Jacobian matrix for the quadruped robot.2?In order to improve the stability of robot's discontinual crawl gait and increase its speed,a new COG(the center of gravity)adjustment approach is proposed.Based on the proposed method,the robot can avoid the COG retreating in the movement period of the body,increase the locomotion speed and reduce the energy comsumption.The simulation results of the experiment based on the robot simulation software-Webots show the validity of the proposed COG adjustment for the quadruped robot.3?In order to improve the adaptability of quadruped robot for various terrains,a smooth transition algorithm of trot gait and discontinul crawl gait is proposed.As is known to all,different gaits are used by quadruped mammals in different terrains.In another words,every gait has its most proper speed thus use lowest energy consumption.With the approach,robot can switch gait smoothly and steadily,and improve the terrain adaptability and energy efficiency.The simulation results of the experiment based on the robot simulation software-Webots show the validity of the proposed algorithms.