Control Strategy Based On Flying Trot Gait For Running Quadruped Robot

In recent years,compared with the wheeled robot and the crawler robot,the foot robot attracts lots of scientists coming to study,due to its good flexibility and environmental adaptability,and better adaption on the disaster environment?battle environment or many other complicated enironment.However,because of the difficulty of keeping the whole machine running or walking stable and fast,the research on the quadruped robot has been kept in a low-speed stage until the invention of the BDI BigDog robot.BigDog robot has become the synonymous of the quadruped robots due to its good environmental adaptability,excellent anti-interference ability.The bigdog also sets up a wave in researching the quadruped robots in the whole world.Compared with the United States,the domestic research on the quadruped robots has a large gap,especially in the running quadruped robots,few labs are doing this job in China.Up till now,most of the domestic quadruped robots can only walk slowly in trot gait,no to mention the high-speed running.Therefore,starting from this phenomenon,this paper studies the quadruped robot in running state,aiming to design a quadruped robot which can achieve the running gait and design a new hydraulic actuator.This paper refers to the quadruped robots using the running gait in the whole world the require by the company to establish a quadruped robot model.Using these parameters to do the analysis and simulation.On this basis,the single leg structure of the quadruped robot is optimized.Using the mechanical parameters as the input parameters,use the D-H method to analysis the single leg movement.The whole process is divided into two parts,one is the support phase,the other is the swing phase,relativing to the foot end or the upper part to set up the coordinate system each.According to the motion characteristics of the slip model,the trajectory of the centroid or the end of the foot during the whole motion is planned.The kinematic inverse is used to obtain the angle of each joint under the whole moving.Taking the kinematic parameters as input,the dynamics of the quadruped robot is modeled as a benchmark to control the force in the quadruped robot.Using Matlab-Adams to simulate the whole movement of the quadruped robot,aim to achieve the stable and high speed running in the software.The movement of the quadruped robot is controlled by position and force,respectively.Using the single leg control to test whether the control method is good to be used in the quadruped robot control.Using the position control to test the trajectory.Using the force control to test the control strategy,make the robot running stable in a high speed,to prove the good effect in the formal control strategy.