Design And Study Of A Bionic Quadruped Robot Based On Galloping Gait

Throughout the development process of quadruped robots,most of its design inspiration comes from the biological bionic research on quadruped mammals,including structure,gait,motion mechanism,energy efficiency and so on.The pursuit of the performance of quadruped robots such as speed,adaptability,stability and intelligent perception has been the direction of unremitting efforts of researchers in the field.Among them,Gallop gait is more typical in terms of high-speed movement performance,but because it is an asymmetric gait,a higher dimension,and an under-constrained state will appear during the movement process,making it true in gait analysis and motion control It is not easy,so it has become one of the research hotspots in the field of quadruped robots.In this Thesis,based on the Gallop gait characteristics,the low-inertia design criterion and the large working space design criterion are proposed for the leg structure design of the quadruped robot.Based on this criterion,by comparing the advantages and disadvantages of the series and parallel structures,the coaxial parallel structure legs of the quadruped robot are designed,and their kinematics,dynamics and stiffness characteristics are analyzed.In terms of gait characteristics,this paper selects animal horses as biological bionic objects through the bionics method,and draws a gait time sequence diagram of the Transverse Gallop gait.On this basis,through equivalent leg mass and inertia,an equivalent mathematical model of a quadruped robot is established,and based on this model,the dynamic equations of each phase of Gallop gait are obtained.Aiming at the stability of Gallop gait of quadruped robot,this paper first establishes the Poincaré map under Gallop gait,and obtains its periodic stability evaluation function,and then establishes the gait stability to make up the Poincare map The shortcomings of the periodic stability evaluation function are analyzed,and the factors affecting its stability are analyzed based on gait stability.In the control scheme,this paper uses a mixed control strategy of force and displacement.After determining the foot trajectory of the robot,the drive function of its joint motor is obtained.Finally,the feedback of the foot force of the quadruped robot is detected by combining the gait of the foot.Timing,adjust the position of its foot.For the development of the control system,this paper selects STM32 as the main controller,and based on the UCOS operating system and em Win platform,realizes the development of the quadruped robot control system and the design of the human-computer interaction interface.Finally,by establishing a physical prototype,building an experimental platform for experiments,reading and recording experimental data and collating and analyzing it,the validity of the related theories proposed is verified.