| Bionic quadruped dinosaur robot has broad application prospects in the industry.Its bionic gait control method has important research significance.Gait control has been a hot topic in recent years,but there is still a lack of effective method for the control of the bionic dinosaur robot.Taking dinosaurs as an object,this paper studies its motion modeling,bionic gait planning and control methods,and its complete system implementation on bionic dinosaur robot platform.The main work of this paper is as follows.The first part is kinematics modeling which usessauropodas the prototype,wefirst combine the D-H model and Jacobian matrix model,and then we improve them according to the real system problems to complete the analysis of the forward and inverse kinematics andthevelocity relationship between joints.As a basic computing module of gait control system,the kinematics module provides efficient and stable trajectory solution and the specific control information to each joint.Then aiming at the stability problemsin gait planning,we first design reasonable gait timing,and then designswing leg timing according to the real system problems,we add Lift-up and Touch-down phases to reduce the impact in the swing period,also we utilize the low-level control system of bionic dinosaurs to increase speed while ensure stability.Finally,a simulation system is designed,and experiments areperformed to test the algorithms and system.Based on the above research results,we design aproper framework and operation process of the gait control system,as well as successfullytransferthe gait control algorithm from simulation environment to real physical system,facing all kinds of interference and noise exist in the real world,such as the control of motor error,sensor data delay.Finally,experiments are performed to verify the availability of the functions of gait control system,and then the solutions to the problems in real system.Both results are compared and tested respectively. |
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