Research On Stability Analysis And Stability Control Method Of Quadruped Robot With High Load Ratio

It is one of the research hotspots in the field of footed robots to improve the adaptability,space operation ability and load capacity of four-legged mobile robots in rugged environments such as grass and sand as much as possible.This paper mainly analyzes the stability of the quadruped robot with high load ratio,planning the motion trajectory,detects the touch of the footless end sensor,and studies the stability control method,and carries out simulation and physical experiment verification.For the quadruped robot,its kinematics and dynamics theoretical model is established.Reasonable assumptions were made according to the actual situation of sports,and simplified dynamic state space equations were derived,which laid the foundation for the research of body control methods based on model prediction.In order to realize the stable walking of the robot with high load ratio,the geometric stability,mechanical stability and angular gait stability of the quadruped robot under interference are analyzed,and the trajectory planning of the robot swinging leg and the stability-based Condition and virtual support area of quadruped robot centroid trajectory planning method.In addition,an event-triggered gait planning method is adopted,and the generalized momentum observer is used to estimate the end force of the foot,and compare it with the expected given threshold to determine the state of the end of the robot foot touching the ground,so as to realize the robustness of the robot motion.Aiming at the motion and operation task requirements of quadruped robots with high load ratio under rugged road conditions,the stable motion control strategy of quadruped robots is studied.This strategy first realizes the trajectory control of the foot end of the swing leg through the spatial inverse dynamic PD control method of the swing leg operation,and then uses the model predictive control method in the finite time domain to track the center of mass of the robot,and the robot is controlled by the method of secondary planning.The foot end force is optimally distributed and mapped to joint torque to control the motion of the robot body,so as to realize the stable motion control of the quadruped robot under rugged road conditions such as sand and rock.On the basis of the aforementioned research,a physical simulation system based on Gazebo under Ubuntu was built,and it was verified in simulation and physical prototype through the ROS control software system.Mainly carried out posture stability control experiments,flat roads,sand and gravel road conditions and stable motion walking experiments under heavy loads...