| The bionic quadruped robot moves in a creeping posture,which can not only lower the center of gravity of the body,but also greatly improve the movement stability and movement flexibility in complex non-structural environments such as earthquake ruins,rugged mountains and high gradient slopes.In this paper,the research on creeping gait planning and control of bionic quadruped robot mainly includes the following three aspects:First of all,the dynamic characteristics of bionic quadruped robot are analyzed.The typical topography of hilly landform is analyzed and divided into flat topography of hilly landform,top of flat slope topography of hilly landform,flat slope downhill topography of hilly landform,The kinematics analysis of the legs of a footed robot establishes the dynamic equation of the quadruped robot in a flat slope environment.Secondly,the planning and stability analysis of crawling gait of bionics quadruped robot: The gait parameters of bionic quadruped robot refer to the gait parameters of quadruped crawler,and the quadruped robot is designed with the flat topography,Hilly topography flat top slope topography,hilly landform flat slope downhill topography adaptive gait,by force-angle stable cone method were calculated under a variety of topographic four-footed robot minimum stability angle,the final stability index;Finally,the bionic quadruped robot walked under a variety of hilly terrains to walk gait stable walking simulations: through the simulation experiments were carried out on the bionic quadruped robot in the flat slope uphill topography,flat slope top terrain,flat slope downhill terrain movement dynamics The simulation analysis shows that the four-legged robot can reach the full contact force during the movement.The rationality of adaptive gait designed by bionic quadruped robots under three kinds of hilly terrains has been verified. |
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