Design And Realization Of The Gait Control System Of Quadruped Robot

With the continuous development of science and technology,robots are increasingly being applied to military,industrial,and civilian applications.Compared with wheeled and crawler robots,quadruped robots have become a research hotspot in the field of robotics due to their bionic structural characteristics,good environmental adaptability and flexible actions.The design of the quadruped robot gait control system has been completed.The specific work content is as follows:Firstly,according to the system requirements that the quadruped robot can walk stably in various terrains,the overall design scheme of the gait control system of the quadruped robot is given,and the traditional gait control method of the quadruped robot needs to accurately model the environment.,designed the overall control framework based on the central pattern generator,and completed the selection of core components such as microprocessors,attitude sensors and quadruped robots.Secondly,the D-H method was used to model the quadruped robot,including forward kinematics and inverse kinematics models,and the accuracy of the model was verified based on MATLAB.Through the analysis of the gait between the feet and inside the feet of the quadrupeds,the structure of the central pattern generator and the trajectory of the foot end are designed;in addition,in order to solve the problem of the unstable center of gravity caused by the change of the body posture during the traveling process of the quadruped robot,the posture is designed.Adjust strategy.Aiming at the stability of quadruped robot walking on slope,a particle swarm algorithm with ZMP offset distance as fitness function was designed to iteratively adjust the angle of each joint of quadruped robot,and its effectiveness was verified by simulation experiments.Thirdly,the software and hardware design of the quadruped robot gait control system with STM32 as the core processor is completed.Among them,the hardware design mainly includes:the design of the minimum system circuit,the power management circuit,the Ethernet communication interface circuit and the sensor information acquisition circuit,and the production of the circuit board is completed.The software design mainly includes: the design of the upper computer software and the STM32 software.Finally,a joint simulation experiment system was built based on ADAMS and MATLAB,and the overall simulation experiment of the system was completed.On this basis,an experimental prototype of a quadruped robot was built,and experiments on level walking and environmental adaptability were completed.The experimental results show that the designed gait control system has achieved the expected functions.