Design And Motion Control Of Quadruped Robot

Finally,the prototype of quadruped robot is developed,the parts selection is carried CPG.to verify the superiority of the motion control method through slope based on IMU and algorithm is verified.The simulation of the quadruped robot climbing gait is carried out line walking and turning of the quadruped robot is carried out,and the correctness of CPG of quadruped robot is established in VREP environment.The simulation of the straightIn order to verify the motion control method of quadruped robot,a virtual prototype through the slope.on the slope,but also ensures the continuity and smoothness of quadruped robot passing planning of the foot.This method not only improves the stability of quadruped robot each leg through kinematics,and control the placement of each leg through the trajectory gait to maintain the pitch angle after each swing phase,and calculate the foot position of IMU and CPG.The feedback of IMU is introduced to make the quadruped robot adjust theThis dissertation presents a new method of motion control through slope based on of parallel leg quadruped robot by kinematics.parameters on network output is studied.The CPG network is used in the motion control rhythm movement of organism.The influence of oscillator model parameters and networkThe model of neuron oscillator and CPG network are established by referring to the obtained.This chapter lays the foundation for subsequent motion control.kinematics,the relationship between the parallel mechanism and the serial mechanism is and analyzes the kinematics of the parallel mechanism.Through the forward and inverse nisms,determines the two degree of freedom parallel leg mechanism of quadruped robot,This dissertation compares the advantages and disadvantages of different leg mechapattern generator(CPG)is proposed,and the experimental demonstration is carried out.climbing gait of Quadruped Robot Based on inertial measurement unit(IMU)and central is developed.The process of quadruped robot passing through the slope is studied.The quadruped robot moving between buildings in the city,a prototype of quadruped robot the traditional mobile robot has a broader application scenarios.Aiming at the task ofQuadruped robot as a research hotspot,its strong terrain adaptability compared with out.The CAN communication between STM32 and motor,the experiment of single leg control and the installation of the whole machine are completed.The linear walking,steering walking and passing slope algorithm are verified and analyzed on the prototype of quadruped robot.