Gait Planning And Locomotion Control Of A Kind Of Bionic Quadruped Robot

Most land on earth is rugged and uneven terrain,while wheeled or crawler robots cannot arrive and pass.Therefore,design and manufacture of legged robots which can move as animal and complete tasks in non-structural environment has always been the goal by mobile robot researchers.Bionic quadruped robot has not only better stability than the biped robot and avoids six-legged robot redundant structure.Because of the above advantage,bionic quadruped robot could be used in the complex environment such as exploration,military reconnaissance,disaster relief and etc.And it has a broad prospect of application and social benefits.The performance of bionic quadruped robot is determined by the structure system,power drive system,motion planning system and motion control system.Based on the design concept of research team's robot——LCS(Linkage Cable-driven Spring)bionic quadruped robot,and combining with the knowledge of bionics and mechanisms,research work has been carried out.Aiming at solve the locomotion flexibility and stability of the robot,the related works which involved the design and optimization,gait planning and locomotion control system structures,the physical prototype verification have been implemented.The specific research works are as following:(1)The construction of mammal animal legs were regarded as bionic objects of the robot's leg,and the leg with the flexible linkage mechanism is designed.Based on SLIP model,the structure parameters of leg were optimized to get uncoupled mathematical relationship between the drive joint variables and the parameters of SLIP.Therefore,the robot's leg movement control realized decoupled.Then,Kinematics,dynamics and the workspace of the robot's leg were analyzed.Compared with the leg workspace of LCS bionic quadruped robot,the workspace of LCS-? robot's leg improved in height and the across range.(2)Typical locomotion behavior of four-legged animals and robot were learned.The foot trajectory and gait of LCS-? bionic quadruped robot were planned respectively.Firstly,based on the equivalent SLIP model,the foot trajectories of the stance phase and the flight phase were designed apart.Then,the motion modes of robot in different environments are planned with static gait and dynamic gait.Aiming at the static motion of the four-legged robot,intermittent walk gait was proposed,and the turning gait was also studied.The tort gait and pace gait were discussed as representative dynamic gaits.To eliminate dragging of rear leg in tort gait,the compensation of leg's lateral angle was proposed to reduce unilateral deviation of the body's yaw angle.By adjusting the torque of the hip joint,we can reduce the amplitude of the one-side roll of the robot and guarantee the stable movement of the robot.(3)Combined with the structure design and locomotion planning of the LCS-? bionic quadruped robot,the software and hardware system of locomotion control was designed.Introducing the method of model based design,and the low cost control hardware Arduino series board served as the controller,the feedback control strategy based on the foot counterforce was proposed.The locomotion control system of LCS-? bionic quadruped robot was built on the Simulink to realize the locomotion control.(4)The physical prototype of the LCS-? bionic quadruped robot and the experimental platform were completed.Through collecting data of the walking gait,diagonal marking time,walking tort experiments,such as body attitude data and the foot pressure data,and compared with the theoretical analysis and LCS bionic quadruped robot to validating the consistency.The rationality and correctness of proposed bionic quadruped robot structure design and locomotion control strategy were verified.These works provides a method of bionic quadruped robot design and implementation,and have certain theory and practical reference value.