| In the research field of quadruped robot,those parts and components with flexibility are adopted increasingly.This is mainly because flexible components and parts have significant advantages such as cushion,improving energy loss ratio and others.Among several flexible components and parts,application of flexible joint has received broad attention from scientific research personnel in this field.Aimed at disadvantages existing in movement process of traditional quadruped robot,this paper studies stability control of quadruped flexible robot.After research,this paper puts forward adjustment strategies of flexible joint rigidity and gesture compensation strategies in its movement process,to ensure good stability of four-leg flexible robot.This paper firstly establishes a new-type flexible single leg featuring planar five bar linkages and accordingly establishes model of virtual prototype of four-leg flexible robot.After establishing the model of virtual prototype,in combination with D-H method,this paper calculates kinematics of four-leg robot,including two parts of forward kinematics and inverse kinematics.In the following,it uses MATLAB software to get foot workspace of four-leg robot,after calculating foot workspace,it further confirms the appropriateness for designing four-leg robot,which lays theoretical basis for planning single-leg foot track of quadruped robot.Then,this paper illustrates the typical movement state of quadruped robot and selects opposite-angle movement state as the main content of research.In combination with features of opposite-angle movement state,it designs movement control methods of opposite-angle movement state and realize walking stably under opposite-angle movement state for the quadruped robot.Because this paper researches the stability of quadruped flexible robot,it compares differences of stability change in walking process between traditional quadruped robot and quadruped flexible robot,as well as provides differences between these two visually via simulation experiment.Finally,based on the differences of stability change in walking process between traditional quadruped robot and quadruped flexible robot,this paper puts forward varying-rigidity control strategies for flexible joint of quadruped robot,to realize walking stability,and puts forward gesture compensation strategies for four-leg robot to improve its walking stability. |
