Research On The Structure Design And Jumping Control Of The Quadruped Robot Aimed At Running And Jumping

In the field of mobile robots,the category of robots can be divided into legged robots,wheeled robots and tracked robots according to their structure.The advantages of wheeled and tracked mobile robots are their simple structure,easy to being controlled and achieve fast moving speed in the structured environment.However,their adaptability to complex unstructured environment is limited.Compared with the tracked or wheeled robots,legged robots are more adaptable to the unstructured environment.Although their structure and control strategy are more complicated,legged robots can interact with the environment like human or animal and complete various tasks and functions in the complex outdoors environment.Nowadays,the application of robots is gradually transferring from indoors to outdoors—from structured environment to unstructured environment.Therefore,legged robot and its related technologies have become a hotspot in the robot research area.In the field of legged robot,quadruped robots have better stability and stronger carrying capacity compared with biped robot as well as having relatively simple structure compared with hexapod and octapod robot.Therefore,the application prospect of quadruped robots is broad and they are very hopeful to be applied in the field of rescue,maintenance of nuclear power plants and battlefield detection in the near future.Because the disadvantages of hydraulic driven quadruped robots,such as large noise and complex structure,are obvious and inevitable,electric driven quadruped robots which have the advantages of simple structure,mature technology and good stability are becoming a mainstream in the field of quadruped robots.Therefore,this paper mainly focuses on the structural design of the electric driven quadruped robot and its jumping research.The single leg of the quadruped robot was designed by using the coaxial motor structure and the three joint leg structure and was check its strength.Then the experimental platform of the single quadruped robot leg was constructed and the trajectory planning of the single leg was proposed.After that,the simulation and experiment were carried out to verify the accuracy of the trajectory tracking as well as its advantage in energy efficiency and stability.On the basis of the single leg of quadruped robot which was designedbefore,the leg configuration was improved and simplified in order to reduce the cost and complexity of control model.Aimed at high power density,low deceleration ratio,low leg inertia and modular design,a low cost,light and stable quadruped robot was designed in this section.Based on the designed quadruped robot,the vertical jump of quadruped robot was studied.Start from the building of the single leg vertical jump model of quadruped robot,the foot force optimization for the highest jump height was carried out based on the vertical jump model.Then,the simulation of vertical jump was performed in ADAMS-MATLAB software.Not only the single leg vertical jump but also the vertical jump of quadruped robot was achieved in the simulation,which verifies the correctness of the optimization algorithm and modeling.Finally,on the basis of the study of vertical jumping,the forward jumping of quadruped robot was studied.The forward jumping model of quadruped robot was built and the optimization of foot trajectory and foot ground force of forward jumping aiming at the lowest energy consumption was carried out.At last,the quadruped robot can achieve jumping up the steps in the simulation,which verifies the correctness of modeling and the optimization algorithm.