Research On Balance Control Of Quadruped Robot Based On SLIP Model

This thesis relies on the National 863 Program "Routine Technology Development of Quadruped Bionic Robots for Field Environment",and studies the balanced stability control method of quadruped robots while walking.At present,domestic quadruped robots generally have stability problems when walking.How to make the robot maintain a stable balance while walking becomes a key issue.This paper proposes a balance stability control method for quadruped robots based on gait adjustment in three-dimensional space.This method can make quadruped robots maintain a stable balance when it is subjected to external disturbance within a certain range.The main research contents of this paper include the following aspects:1.Quadruped robot modeling analysis.The D-H method is used to establish the space coordinate system of the quadruped robot.On this basis,the derivation of the forward and backward kinematics of the quadruped robot on a certain leg is given,and the Jacobian matrix is further derived.These lay the foundation for the stability control of the quadruped robot.2.Dynamic stability analysis of quadruped robots.The dynamic characteristics of SLIP model are analyzed,and the SLIP model of quadruped robot motion is constructed.The gait characteristics of Trot are analyzed,and the gait control scheme under Trot gait is given.The stability condition of the quadruped robot during motion is analyzed based on SLIP model.3.Design and implementation of quadruped robot simulation platform and physical experiment platform.Based on the performance analysis of the quadruped robot,the 3D model simulation analysis platform of the quadruped robot was built based on Webots,and the laboratory SCalf quadruped robot physics experiment platform was further improved.The experimental results show that the system has good real-time performance and high stability,and the design aims are achieved.4.Research on the balance control algorithm of quadruped robot.A dynamic stability balance control method based on gait adjustment in three-dimensional space is proposed.The current torso attitude of the quadruped robot is compared with the given trunk posture,and the foot of the quadruped robot is calculated by the SLIP model.The robot's foothold achieves stable control of the roll angle and pitch angle of the torso.Simulation analysis and experiments verify the effectiveness of the algorithm in the balance control of quadruped robots.