Lateral Balance Recovery Of Quadruped Robot On The Non-flat Surface

The quadruped robot has the advantages of low requirement to the working environment,and has the advantages of strong adaptability,mobility,stability and carrying capacity.Therefore,it has a good performance in accident scene investigation and disaster relief work.The explosion of the accident in Binhai New District indicates an urgent need for the robot to be used in disaster relief.This dissertation is derived from the national 973 plan key basic research project “ nuclear power plant emergency relief robot basic scientific problems”.It is mainly about the emergency response of the robot in the the actual situation of after the disaster.What we discuss about is based on the capture theory.By calculating the robot in the lateral by impact force balance recovery fall full point detect,and taking into account the pavement roughness robot real-time adjustment of posture,it will maintain the smooth motion of the robot,then a maintenance reference index is proposed for the balance limit of the rescue robot.Finally,in the simulation,we exert a lateral force on our quadruped robot,the performance of which will prove our methodology valid.