A Research On Gait Design And Motion Control Of Quadruped Robot

Quadruped robot is an important branch of robot,which has the advantages of strong adaptability to environment,high load performance and good stability.It can be applied to disaster rescue,reconnaissance,adventure,transportation,family services and other fields,and has good application value.Quadruped robot technology involves many disciplines such as mechanics,biology,computer,AI and so on.The research content is very rich and the research of gait design and motion control is the key of quadruped robot to have practical application value.Based on bionics,this paper designs the crawl gait and the inclined gait of quadruped robot and designs the attitude stabilization controller for each movement.Meanwhile the simulation experiment of gait design and motion control is completed by Matlab and Adams and the prototype is made based on simulation.The specific research content has the following aspects:1)The forward and inverse problem of kinematics is solved by using the D-H coordinate method,which will be helpful to know the relationship between the foot coordinate relative to the fuselage coordinate and the rotation variables of each joints.The single leg linkage system of quadruped robot is deduced by using the Lagrange equation,which will be helpful to understand the relationship between connecting rod force,rotation angle,angular velocity and angular acceleration.2)The quadruped robot gait is designed by foot trajectory planning and gait cycle selection based on the model method,and the Matlab/Adams co-simulation platform is built to provide simulation environment for the quadruped robot's motion control design.3)According to the specific motion environment,the creeping gait with good low gravity stability and the bevel gait suitable for the bevel walking are designed.According to the ZMP stability criterion,the attitude stabilization control strategy of quadruped robot is designed,and PID controller and fuzzy controller are designed for two gait to complete the attitude stabilization control of quadruped robot.4)The mechanical structure and circuit control system of quadruped robot are designed,and the design of embedded software is completed based on the hardware platform.The quadruped robot's prototype design is completed,and the crawling gait and the inclined gait are tested in real experiments.