Research On Dynamic Stable Motion Control Algorithm Of Ostrich-Like Robot

How to achieve efficient and stable walking of biped robots has always been one of the research hotspots in the field of robotics.The ostrich-like robot studied in this paper is a kind of biped robot.Compared with the traditional biped robot,its biggest feature is that it has no ankle joint and sole,that is,the foot and the calf are not connected at the end,and the ground is point of contact.The advantage of this structural design is that there is no need for additional control of the ankle joint.The robot is always in a state of dynamic balance.After being disturbed by the outside,it can be quickly adjusted to restore the balance.It has high maneuverability.This paper aims to propose a control algorithm suitable for ostrich-like robot to achieve stable motion in three-dimensional space.The main work of the paper includes the following aspects:(1)Simplify the body and leg structure of the ostrich-like robot,and then use the D-H method to establish its spatial coordinate system,based on which the forward kinematics of the robot is modeled,the leg Jacobian matrix is derived,and the geometric method is used to obtain the analytical motion inverse solution is laid,which lays a theoretical foundation for the subsequent control algorithm design.(2)In order to verify the effectiveness of the designed ostrich-like robot motion control algorithm,a 3D simulation model of a one-leg robot and an ostrich-like robot was built in the Webots simulation platform.At the same time,to facilitate simulation debugging,an upper computer for simulation debugging is designed for the ostrich-like robot.(3)This paper analyzes the stability conditions of the one-leg robot based on the SLIP model,and decomposes the one-leg robot's motion in two-dimensional space into three independent parts:controlling jump height,controlling forward speed,and controlling body posture,according to the divide and conquer control idea.The three independent parts of the body posture are solved separately and the results are coupled to obtain the control algorithm of the robot's movement in the two-dimensional plane.Based on two-dimensional motion,it is laterally expanded,and the motion control algorithm of the robot in three-dimensional space is analyzed,and the feasibility of the algorithm is proved by the simulation platform.(4)The concept of one-foot gaits is obtained by summarizing the motion characteristics of one-leg robot,which proves the applicability of one-leg robot control algorithm in ostrich-like robot.First,the algorithm is further optimized and applied to the control of ostrich-like robots.Secondly,the gait planning of the ostrich-like robot is carried out,and the trajectory of each joint is derived according to the inverse kinematics formula.Finally,the overall architecture of the control algorithm is elaborated and verified by simulation experiments.The results show that the ostrich-like robot has high robustness and good real-time performance,and achieves the expected design goals.