Research On Multi-leg Stable Gait Planning Of A Turtle Robot For Stage Performance

With the development of robotic technology and bionics, the research of the bionic robot have been paid enough attention by researchers in the world. The bionic quadruped robots with good movement flexibility and excellent environment adaptability become the focus in current researches. This paper developed a turtle robot system for a digital stage performances. The kinematics equation is deduced and the walking stability problem is analyzed, what’s more, the corresponding gait planning method is put forward. Finally, a variety of typical gait motion control experiment is established.According to application requirements of stage performances, the function and the performance requirements of the robot is confirmed. Based on the shape of the structure and movement theory of real turtles, designed the turtle robot system configurations, ontology infrastructure, four 3-DOF modularized legs and a flexible neck. legs has one characteristic that all the motors and their transmission actuator are mounted at in the junction of the leg back-end and ontology, this design reduces the load on the joints, increasing the driving efficiency and payload ability, and the flexible neck which is driven by a wirerope is designed to mimic the flexible neck movement of the turtle and increase the effect of the human-machine interaction. In addition, the design of the shell opening and closing device, which can open the robot turtle shell and glow with colored lights form the body of turtle robot, it can increase the artistic effect to stage performances.This paper addresses stable gait planning research for multi-legged robot after finish the design of turtle robot system. Based on the structure characteristic of leg, the kinematics model of the single foot is established by the D-H method, based on this, the continuous crawl gait and turning gait is planned by the conventional method, and simulated with Webots software, to verify the theoretical derivation and the accuracy of the planning algorithm. Then consider the effects of the weight leg on the center of gravity of the system, set up the relationship between the structure size and the static stability, based on this, we proposed a movement gait stability criterion, which consider the geometry features of each foot, quality characteristics and the effect on the stability of the system configuration, Based on this, an effective gait planning method which adjusts the center of gravity to vary along desired path is addressed, this can realize the coordination of stability control. Finally, embedded controller and remote control based on ARM processor is developed by the idea of modularization, which realize the remote control when the turtles robot performance in the stage.Based on above work, the prototype of turtle robot are completed and motion control experiments are carried out, including straight forward, backward, turn, turn corners, swing neck, shell opening and the gait experiment which adjusts the center of gravity, and also completed a successful public play on the robot digital stage drama stage, Results show that the motion ability of quadruped turtle robot is strong and the control of robot is easy, it meets application requirements on robot drama stage.