Walking Stability Of Quadruped Robot Research On Serial Communication Design Of Sensor

Bionic quadruped robots were widely used in resource survey,national defense,military,disaster relief and other fields due to their strong environmental adaptability and high flexibility.They were one of the hot research fields in recent years.The rigid quadruped robot may be unstable or even rollover when walking because of the large turning angle.In order to improve the stability of quadruped robot when walking,this paper uses virtual prototyping technology to simulate the linear walking of quadruped robot,and uses genetic algorithm to explore the optimal position of the center of mass of quadruped robot during walking.The main contents of this paper include: The following points:(1)Based on the bionics principle,a virtual prototype of multi-degree-of-freedom bionic quadruped robot is developed.The focus is on the leg structure.The kinematics model of quadruped bionic robot is established,and the forward and inverse kinematics equations are deduced by D-H method.(2)Firstly,genetic algorithm is introduced,and the relationship between the diagonal gait and the walking stability of quadruped robots is expounded.Then genetic algorithm is introduced into the diagonal gait of quadruped robots,and the optimal position of the center of mass of quadruped robots in the walking process is obtained,so as to minimize the swing amplitude of the center of mass of quadruped robots.(3)Design the communication between gyroscope and force sensor and the main program of quadruped robot.The gyroscope and force sensor can be used to collect and monitor the body amplitude data of quadruped robot in the course of walking.It also plays a data analysis role in the research of quadruped robot's center of mass to control the swing amplitude.