Design And Implementation Of Motion Control System For Quadruped Robot

The application of legged robots is moving from the laboratory to real life,and largesize quadruped robots have higher potential for application.Large-size quadruped robots with large size and heavy load-bearing have particularly problematic real-time response and compliance to environmental contact,requiring the use of a real-time reliable control systems and highly flexible control strategies.This thesis focuses on the development of the motion control system and the development of the flexibility control algorithm according to the motion requirements of the large size quadruped robot.The functional requirements of quadruped robot motion control were analyzed,and a hierarchical distributed motion control architecture was proposed,dividing the quadruped robot control system into a master control layer,a coordination layer,and an execution layer.The task requirements,communication requirements and real-time of robot motion were analyzed,the functions of each layer of the control system were clarified,and the corresponding communication mechanisms were designed.By simulating and analyzing the motion characteristics of the robot's single leg under different control methods,a compliant control strategy of inverse dynamics feedforward +PD impedance control compensation was proposed to reduce the impact effect caused by the sudden change of speed when the robot's foot collides with the environment and achieve high stability of the robot motion.The hardware circuit of motion controller based on ARM+DSP dual-core CPU was designed to realize the multi-communication function and fast computing performance of single-leg control system.The communication method between dual-core processors based on shared memory was designed to realize handshaking and data synchronization between ARM and DSP cores.According to the high real-time and high reliability requirements of the control system for large size quadruped robots,a time-triggered secure communication implementation method and a single-leg motion control software program were designed to achieve reliable data transmission between the various levels of the motion control system.A quadruped robot single-leg experimental platform was built to test the performance of the quadruped robot control system and the robot leg flexibility control characteristics,which verified the effectiveness of the control system and met the application requirements of large size quadruped robots.