Research On Adaptation Of Environment Of Quadruped Robot Based On Central Pattern Generator (CPG)

The greatest advantage of foot robot over traditional wheeled robot is that it has better adaptability to complex terrain environment.The quadruped robot obtains the slope information of the support surface through its own attitude sensor,foot contact force sensor and vision sensor combined with robot kinematics.Accordingly,the leg length of the robot is changed by adjusting the balanced position of each leg of the robot,so that the center of gravity projection of the robot is basically in the central position of the support surface in order to maintain the stability of the body.Also through the change of leg length to adapt to the undulating ground and complete the movement up the steps to achieve the purpose of environmental adaptation.In this paper,the environment adaptation of quadruped robot is studied by constructing CPG based on Hopf oscillator model,which is verified by the joint simulation of MATLAB and ADAMS.The main contents are as follows:(1)This paper describes the development status,research background and significance of quadruped robot at home and abroad,and explains the significance of this research on the basis of literature review(2)The characteristics of Hopf oscillator are analyzed,and the mathematical model of CPG motion control network is constructed by using its characteristics.The hierarchical control model framework is established by imitating the animal motion control mechanism,and each layer is further modeled on the basis of the framework.(3)Classifying the main types of environment,analyzing and extracting the environmental parameters,which combines the environmental parameters to put forward the strategy for the robot to adapt to each type of environment.(4)The co-simulation model of MATLAB and Adams is built according to the CPG motion control network model.(5)Through the co-simulation of MATLAB and Adams,the CPG control algorithm is verified,and the problems are analyzed,found and improved in order to achieve better motion control effect.At the same time,the limitations of the model are also proposed.