Bound Gait Planning And Control Of Hydraulic Quadruped Robot

Relying on the flexible movement of the leg joints,the quadruped robot can calmly face a variety of geographical environments and complete many tasks that cannot be performed by wheeled or crawler robots,such as carrying materials in mountains and hills.Fast and flexible robots have the advantages of saving work time and improving work efficiency.Therefore,it is necessary to study the high-speed gait of quadruped robots.Bound gait,as a kind of high-speed gait,can not only improve the robot's motion speed,but also help the robot to improve its obstacle crossing ability and environmental adaptability.Based on the motion characteristics of a quadruped mammal in a bound gait,this paper analyzes the bound gait of quadruped robot and studies its gait planning and control methods in motion.The self-designed and developed hydraulic quadruped robot is used as the experimental platform.The main contents of the research are as follows:(1)Model a quadruped robot.Due to the complex body structure of animals,unnecessary joints are simplified,and a kinematic model of one leg is established,Analyze its forward and inverse kinematics based on D-H method and geometric analysis method,and find the relative motion relationship between each joint variable and the position of the foot;Modeling dynamics with Lagrange's equation;Plan the motion trajectory of the foot end swing phase.Provide a theoretical basis for subsequent simulation work.(2)The spring loaded inverted pendulum model is used to analyze the bound gait of a quadruped robot.Establish a simplified model of a quadruped robot in a twodimensional plane,and use the idea of multiple degrees of freedom decoupling control to control the three degrees of freedom of movement,such as forward speed,jumping height and pitch angle;Then the switching conditions between the vacant phase and the support phase of the bound gait are given to achieve stable movement.(3)Construct a mechanical model of a quadruped robot in Creo 3D software,and set model-related parameters in Adams,Then set up the Adams and Simulink simulation control system,simulate the bound gait,collect relevant data for analysis,verify the correctness of the control method,and further conduct experiments on physical prototypes to achieve the bounded gait of the hydraulic quadruped robot.The research results help to improve the robot's moving speed and motion stability,and have a good reference for the high-speed movement of the quadruped robot.