Research On Stable Locomotion Control Of Quadruped Robot In Unstructured Environment

With the deepening of the research on legged robot,researchers are not content to achieve stable locomotion of the robot in the laboratory environment alone.Instead,they urgently hope that the robot can complete the task autonomously under complicated and changing conditions,and put forward higher requirements on the stability of the robot's locomotion.The stable locomotion of legged robots in unstructured environment has become a hot and difficult field of robotics research.Therefore,in this paper,the research on stable locomotion of legged robots in unstructured environment with a quadruped robot has been studied,the main contents are as follows:Based on the structure optimization of quadruped robot,the single leg movement space was improved by 16.7%.The influence of foot-end trajectory components on the movement stability of quadruped robot was analyzed.A novel foot-end trajectory was designed and can make the quadruped robot more stable in trot running.In order to realize the self-balanced control of quadruped robot,a moving variable length inverted pendulum model is proposed,its dynamic characteristics are analyzed,and the attitude feedback control law is proposed to realize the self-balanced control of quadruped robot.The self-balanced experiment of quadruped robot under the diagonal feet support is carried out.The self-balanced of quadruped robot under external force is verified,which lays the foundation for the stable locomotion of quadruped robot in the unstructured environment.The research on stable locomotion control technology of quadruped robots in unstructured environment is carried out.The interaction model between one leg of the quadruped robot and environment is established,and the force feedback compliance control of quadruped robot in simulation environment is realized.The adaptive experiment of quadruped robot in dynamic environment is carried out.The proposed self-perception and adaptive locomotion control method for slope environment successfully achieved the quadruped robot's climb over the 13.5 ° slope.The proposed triangular gait and the proposed control method successfully achieved the stable locomotion of the quadruped robot in unstructured environment,which lay an important foundation for the fast adaptive and stable locomotion of the quadruped robot in the unstructured environment.