Running Analysis Of Quadruped Robot With Flexible Spine

The high-speed movement of the quadruped robot is the research hotspot in the field of quadruped robots.The stability and environmental adaptability of the quadruped robot under high-speed movement are two prominent problems in this field.Reasonable design of the flexible spine can not only improve the stability of the quadruped robot,but also further improve the running speed of the robot.The use of biological control methods in the control of the robot can improve the environmental adaptability of the quadruped robot and improve the movement performance.This paper studied and analyzed the spine structure design,kinematics analysis,biological control methods,foot trajectory and adaptive biological control methods of the quadruped robot.The main contents are as follows:(1)Based on the bionic analysis of spine movement during cheetah running,a flexible spine model was designed.Then the kinematics and inverse kinematics analysis of the quadruped robot was finished,and the relationship between the joint rotation angle and the foot trajectory was derived.The relationship between the length of the hydraulic cylinder and the angle of the body was determined.(2)Based on the CPG control method of Hopf model,the bound gait simulation analysis of the quadruped robot with flexible spine was done.Through the reconstruction of the network topology,the spine drive signal was coupled with the joint drive signal of each leg.Finally,the running ability of quadruped robot was simulated by Adams and MATLAB/Simulink software.The simulation showed that the running performance of the quadruped robot with flexible spine was significantly improved.(3)According to the running characteristics of the quadruped,a cardiod line foot trajectory was designed.The joint angle driving curve was obtained by the model-based control method.And then the adaptive biological control method based on Hopf model was used to learn and reproduce this foot trajectory.It was proved by simulation that this foot trajectory could improve the running speed and stability of the robot.