The System Design Of Small Bionic Quadruped Robot Based On Electric Direct Drive

The 12 degrees of freedom quadruped bionic robot is an important part of the foot robot family.In general,the relationship between complexity and reliability of the robot is inversely proportional,while the quadruped robot is relatively balanced,the control is more simple than bipedal humanoid robot,and redundant degree of freedom is less than six foot insects robot.With the maturity of hydraulic servo technology,servo motor technology and related control technology,the ability of going through obstacle and the anti-interference ability of quadruped robot is rapidly improved,which allows people to rekindle the hope that the foot robot is more likely to be in service,industry and even military field.The specific work involves the design and manufacture of the main control board,the construction of the circuit system,the debugging of the motor drive,the writing of the control driver code,the simulation and transplantation of the control algorithm,and the environment perception simulation of the application layer.This design uses disc type external rotor brushless motor to directly drive foot joints.High precision position and torque control of the motor is carried out by the driver which used field oriented control(FOC)technology.The main control system uses dual MCU and multi-channel can bus to realize real-time communication with the driving node.In the control algorithm,the virtual damping control model and the spring loaded inverse pendulum model are used to construct the control frame,and the simplified control model of the sacrificial lateral virtual force and the diagonal gait control model based on the MoorePenrose generalized inverse least square solution are explored.The adaptive ground tilt angle feedback control is adopted for the four foot gait.The related control algorithm simulation test based on Webots simulator and physical verification platform transplantation.The application layer simulation is based on the Gazebo simulation platform under ROS,and through the RGBD sensor and the integration of an open source algorithm named rtab-map,the environment modeling and motion planning are carried out.Based on the related simulation and the physical platform test,the basic standing,walking and trot gait of the quadruped robot is finally realized,and the stability and anti-interference ability of the system are good.