Quadruped Robot Trot Balance Control Method Based On Landing Time Difference

Gait is an important factor affecting the ability of robots to move.Since the trot gait has a high energy efficiency ratio,it is a commonly used gait for the quadruped.Trot gait as a dynamic gait,its dynamic stability control becomes a key issue in trot gait control.A small bionic quadruped robot platform was built.The kinematics of the quadruped robot is analyzed.A trot gait balance control method using the difference of the diagonal feet landing time is proposed.The stable trotting of a small bionic quadruped robot was achieved.The main work done is as follows:1.A small bionic quadruped robot platform was designed.The kinematics modeling of the quadruped robot was done.The robot's foot end workspace was calculated.A quadruped robot's trot gait and foot trajectory were planned.The hardware and software of the control system of the quadruped bionic robot were designed.The attitude adjustment of the quadruped robot was realized.2.A control method for improving robot's posture stability based on difference of the diagonal leg landing time was proposed.The imbalance of the posture of the quadruped robot when trotting causes the diagonal foot landing time to be out of synchronize.The method uses the difference of the diagonal foot landing time as the feedback.It adjusts the robot landing point according to difference of the diagonal leg landing time.So that the time difference between the landing feet tend to be reduced.Finally the quadruped was able to trot stably.3.Slope terrain condition was estimated using robot attitude angle and leg kinematics.The attitude angle data of the robot was filtered through a first-order low-pass filter.So that it can reflect the slope of the terrain clearly.The quadruped robot trot gait was planned online based on slope angle.Experiments on the slope estimation method and the gait adjustment method were carried out on a small bionic quadruped robot experimental platform.The results show that the method can realize the quadruped robot walking on the slope.