Quadruped Robot Control Method And Implementation Based On SLIP Model

In recent years,various bionic robots have become a research hotspot,and quadruped bionic robots have gradually become the focus of research due to their application potential in complex field environments.In the actual application process,the demand for the dynamic performance of the quadruped robot has become one of the most important requirements.Therefore,the static gait walking robot based on the traditional gait planning strategy can not complete the existing tasks.This paper takes "National Natural Science Fund-Mountain Climbing Robot" as the research background,mainly studies the bionics of quadruped robots,the high speed of motion and the adaptability to the environment.This paper focuses on improving the bionics and speed of robots.In this regard,the spring loaded Inverted Pendulum(SLIP)dynamic model is integrated into the control of the robot trot motion.In this paper,the four-footed animal is used as a template to summarize its related gait parameters and gait types.By analyzing its leg structure,the optimal joint configuration of the quadruped robot is obtained and applied to the structural design of the robot.Then,using the Denavit-Hartenberg method(hereinafter referred to as DH method),the four-legged robot is modeled and analyzed by forward and inverse kinematics,and the correspondence between the foot position and the joint angle is obtained,which is the latter motion control and The trajectory planning laid the foundation.Through the analysis of the validity of the SLIP model,we know under what conditions the SLIP model has consistent motion effectiveness in a given time-invariant environment,and the structure/motion parameters and environmental conditions of the model will have an important impact on its motion.Then the periodic motion of the SLIP model is analyzed,and the dynamic equations and switching conditions of the flight phase and the ground phase are given.The application of the SLIP control principle to the overall control of the quadruped robot is analyzed.The SLIP model equivalent motion method of the foot robot.According to the three-point control method of the four-legged robot,the control of the quadruped robot is divided into the control of speed control,altitude control and body posture,and the specific control strategies are given respectively.According to the dynamic model analysis of the robot legs during flight and landing,the joint torque and control block diagram required for control are given.Finally,based on the dynamic characteristics of the SLIP model,the trajectory of the landing phase of the knee joint of the quadruped robot and the trajectory of the flight phase are studied.Finally,based on the above control method,a single-leg jumping platform is built,and the performance of the torque motor is simulated.By testing the hardware environment of the single-leg platform,it can be used as the verification platform for the above control method.The SLIP one-leg jump model is built in the simulation environment,and the control method is tested on the model.The actual control effect of the above control method is then verified on a single leg platform.Experiments show that the four-legged robot motion control method based on SLIP control model can be implemented well in the simulation environment,and can be well realized in the actual single-leg platform within the acceptable error range.According to the research in this paper,the application of SLIP model to the motion control and trajectory planning of quadruped robot can make the robot have certain bionics and can realize its trot motion stably.The method solves the problem of the advancement speed,height and body posture of the quadruped robot in the trot motion,improves the movement speed of the quadruped robot,and lays a foundation for the research of the high-speed running motion in the subsequent complex environment.