Effect Of Gait Parameters And Spine Stiffness On Energy Use Efficiency Of Quadruped Robot With Spine Joint

At present,there are two main drives of foot-type robot.One is the hydraulic drive.The advantages of the hydraulic drive are large power,strong load-bearing capacity and good stability,which can suitable for outdoor complex environment.The other is driven by the battery.The advantages of the battery are clean,flexible and low noise,which can suitable for indoor and space,but the durability of the battery is a big problem.The current research has proved that spinal motion can improve the speed,stability and energy utilization efficiency of quadruped robot,but the performance of the spine itself is rarely studied.In this paper,a battery-powered quadruped robot with spinal joint is studied.The energy efficiency of quadruped robot with spine is analyzed under bound gait.The energy efficiency of the robot is improved by changing the gait parameters and the stiffness of the spine,which reduces the overall energy consumption of the quadruped robot.Firstly,the bound gait of quadruped robot with spinal joint is analyzed,and the gait parameters are analyzed.The phase diagram of bound gait is obtained.According to the bionics principle,simplified model of quadruped robot with spine joint is derived through the analysis of the cheetah's body.The kinetic equations of the robot are obtained and the kinetic equations of the robot at various stages of bound gait are deduced.Secondly,the effect of gait parameters on the energy utilization efficiency of quadruped robot with spinal joint is studied.The gait of quadruped robot with spinal joint is planned and the foot trajectory of robot is obtained.The energy consumption of robot leg in standing phase and swinging phase is analyzed.The relationship between gait parameters and the energy consumption of quadruped robot with spinal joint is obtained,and the gait parameters setting method is proposed.Then,the effect of spinal stiffness on energy utilization efficiency of quadruped robot with spinal joint is analyzed.Through the research on the amount of change of spine joint angle,the equations of mechanical state of spine joint are obtained,and the transformation between robot energies is analyzed.The effect of spine joint on the energy consumption of the robot is obtained.Simulation experiments show that spine motion and optimal spinal stiffness can effectively improve the energy efficiency of quadruped robot with spinal joint.Finally,in order to prove the correctness of the theoretical analysis,experimental platform of experimental prototype is set up to test the plane prototype of quadruped robot with spine and to analyze the effect of gait parameters and stiffness on robot energy efficiency.The experimental results show that the optimal gait parameters and the optimal spinal stiffness make the highest quadruped robot's energy use efficiency.