Design And Gait Simulation Of A Blue-sheep Inspired Quadruped Robot

The special body structure of the quadruped animal makes it have good adaptability to complex environments.The various gait makes it have excellent movement performance.The developed musculoskeletal system makes the body highly balanced and highly dynamic.As a kind of quadruped,blue-sheep has the movement characteristics unmatched by other quadruped animals.It can run flexibly on cliffs and even on cliffs close to 90 degrees.It is the best mountaineering athlete in nature.Lightweight bone structure,special hoof structure and flexible gait are of great significance for the development of a robot with super climbing ability.The purpose of this paper is to develop a motor-driven robot with high dynamic and excellent mountain terrain adaptability.Based on the analysis of the skeletal structure and gait of the Blue-sheep,this paper proposes a quadruped robot platform with variable stiffness suspension,completes the design of the virtual prototype,and the development of the physical prototype.Feasibility and superiority of mechanical design and control methods are verified from the perspective of theory,simulation and physical experiment.The specific work of this paper is as follows:(1)A quadruped robot based on the blue-sheep was proposed.The three-segmented leg structure,joint configuration,variable stiffness shock suspension for the performance of the robot were explored.(2)Introducing the central pattern generator(CPG)as the locomotion controller of this paper for generating typical gait of a quadruped robot.(3)The Simulink/ADAMS co-simulation platform was built,and the feasibility and superiority of the virtual prototype with variable stiffness suspension and CPG-based locomotion control were verified by a series of simulation experiments.(4)Building a complete physical prototype and single-leg test platform,and using ROS to build a software control system based on the hardware platform.A series of physical experiments are conducted.The performance of the motor,single-leg support and load performance were tested.Finally the experiment of flat walking was completed.