Gait Planning And Simulation Of Quadruped Robot Based On Adams

There are more and more researches on quadruped robots in China,and the functions of quadruped robots are becoming more and more powerful.The idea of this paper comes from an experience of climbing Mount Tai.On the way to the top of mountain Tai,I saw many mountain bearers.It was very hard for them to carry food and daily necessities on foot.So I wanted to design a quadruped robot that could walk the mountain road by remote control to help the mountain bearers carry materials.This paper mainly focuses on the gait planning of quadruped robot,and the research contents are as follows:Based on the excellent quadruped robot models at home and abroad,the structure of the quadruped robot is designed,which lays the foundation for the kinematics analysis of the robot.According to the structure of the robot,the geometric method with less computation is employed to analyze the forward and inverse kinematics of the robot instead of the traditional D-H coordinate method.The kinematics analysis of the robot lays the theoretical foundation for the gait planning of the robot.Considering that most of the mountain roads are rugged and the height and width of the steps are not equal,4 pressure sensors are added at the ends of the four feet.By the 4 pressure sensors,the terrain height can be sensed by calculating the falling time of the swing leg landing.Thus,the robot vision can be replaced and the movement speed can be improved.The three-dimensional model of the robot is constructed in Creo,then the model is imported into Adams,and the joints,motions,materials,contacts and state quantities are added,and the input and output variables of the system are established.The connection file is created,the parameters of Simulink model are set,the connection between Adams and MATLAB is completed,and several joint simulation experiments are carried out.In the simulations,according to the different road conditions,the gait of walking on flat road and random rough road,the gait of climbing and descending one stair,and the gait of climbing and descending stairs with random height and width are designed.Through the joint simulation of MATLAB/Simulink and Adams,the simulation results show that the algorithms are effective,and the robot can walk on flat road and random rough road,climb and descend one stair,climb and descend stairs with random height and width.There are 81 figures,2 tables,51 references.