Research On High Dynamic Performance Of Quadruped Robot System In Complex Environment

People have been tirelessly exploring an autonomous mobile robot with strong dynamic performance and fast movement.Autonomous mobile robot has the function of actively sensing the environment and realizing autonomous navigation.At the same time,it has high terrain adaptability when interacting with complex physical environment.The traditional mobile robot has simple structure and relatively easy to solve and control the motion model.It has good motion performance on the structured flat road surface.On the other hand,when facing the unstructured environment,the traditional mobile robot lacks physical interaction ability and can not give full play to the potential of autonomous mobile robot.This thesis focuses on the motion control and motion planning of quadruped robot.The main research contents are as follows.Build the physical prototype of quadruped robot and establish the kinematics and dynamics model.Referring to the bionic structure of quadruped mammals,the mechanical structure of the legs and trunk of the robot prototype is built,which is abstracted and simplified,and the kinematics and dynamics model of the robot is established.The motion control system and its modules of quadruped robot are designed.The motion control module of the robot includes a state estimator for estimating the trunk state,a body centroid trajectory planner for analyzing the control command,a gait and phase controller for adjusting the motion rhythm of the robot,a leg controller for controlling the supporting leg and swinging leg respectively,and a joint controller for realizing the hybrid control of joint force and position.Each module cooperates with each other,The motion control system of quadruped robot is composed.The motion planning system and its modules of quadruped robot are designed.The motion planning module of the robot includes the global planning module for global route division and double S curve planning,the local planning module for dynamic and static obstacle avoidance,and the control module for path tracking.Through the logical combination of the three,the task of obstacle avoidance of quadruped robot navigation is realized.Build the hardware of quadruped robot and carry out experimental analysis.Verify the rationality of the planning and control algorithm designed above,and evaluate the planning intelligence and motion dynamic performance of the robot according to the experimental results.