Gait Generator And Walking Stability Analysis Of The Wheel-leg Hybrid Quadruped Robot

In this paper,a new kind of leg-wheel hybrid quadruped robot has been studied,and this paper focused on the research of the mechanism,the kinematics,the gait generation and the stability of this leg-wheel robot.First,the locomotive ability of the leg-wheel hybrid quadruped robot has been analyzed,the installation position of the lower leg electric actuator has been optimized.The kinematics and the working space of the single leg mechanism has been solved,and the Jacobian matrix of the leg mechanism has been analyzed.The simulation has been conducted to verify the kinematics and the Jacobin matrix.Secondly,basing on the Central Pattern Generator,the gait generation method has been studied.A kind of bionic control method of gait generation based on Hopf oscillator and gait transition for the leg-wheel robot has been studied.Established the walking adjustment CPG unit of the Walk gait.The trajectory of the foot endpoints of the Tort gait during the turning has been analyzed,and the corresponding CPG control network has been established and the gait has been simulated.Thirdly,the torque around the support leg axis was calculated when the robot was walking in a static gait,and the stability adjustment zone was solved.The method is extended to a dynamic gait,and the stability of the walk of the Tort gait is measured using the moment of impulse.Finally,the process of the transition of the wheel mode and the leg mode has been analyzed,and the trajectory of the foot endpoint in the process of transition has been planned,the transition process has been simulate.The single leg control system has been established and the motion control experiment has been conducted.