Research And Implementation Of Motion Control Of A Flexible Quadruped Robot’s Dynamic Gait

Quadruped robot has the advantages of strong bearing capacity,high movement flexibility and strong environmental adaptability.Quadruped robot has great potential for development and a wide application prospect in many industries.Referring to the body structure and movement mode of quadruped animals in nature,it is a key research topic in the field of quadruped robot to improve the flexibility of movement,reduce energy consumption and enhance environmental adaptability.In this paper,a quadruped robot is designed to study the motion control under dynamic gait for realizing the rapid and stable movement in unstructured environment.The main research contents and innovations in this paper are as follows:1.Each gait was compared the scope of application,advantages and disadvantages.Then the trot was selected as the ideal gait.A single-legged mathematical model with active and passive variable stiffness joint with flexible deformation could be established.A kinetic equation was established.The dynamic analysis was carried out,which provides the idea for the design control strategy.2.Based on the spring soaded inverted pendulum model,the phase motion control strategy of quadruped robot was designed.Based on the trajectory planning with high precision and simple control characteristics,the strategy of emptying phase motion control of quadruped robot was designed.A motion control strategy was constituted by these two separate parts.On these bases,the method of maintaining the stability of quadruped robot on slope pavement.And the attitude adjustment method relative to the flat pavement fuselage were analyzed.To ensure its own stability,the motion control for fast and stable operation in complex environment was designed.The motion control strategy was supplemented and perfected.3.The software ADAMS was used to select the torque control mode and the quadruped robot was simulated in three-dimensional model.The simulation results were analyzed to verify the feasibility of the motion control strategy.The prototype structure and control system were designed and the prototype experiments were carried out.By the experimental data was analyzed,the rationality of the structure design and driving mode of the prototype were verified.The effectiveness of active and passive variable stiffness joint in the prototype motion was verified.In the face of various problems in the experiment,the shortcomings of the structure and control strategy of the prototype were summarized.And the improvement methods were put forward.