Study On The Control Method Of Crab-like Robot Based On CPG

Walking robot has good complex unstructured environment adaptability and stability.Therefore,the researchers pay more attention to the walking robot,which makes it become a research hotspot in the field of robot.With the development of robot technology,people put forward higher requirements for the robot movement performance.Based on the stable walking,those directions of bionic control method and complex environmental adaptability of robot are studied widely by people.For the complex motion control and bad stability and strong impact of multi-legged robot in complex terrain,this paper focuses on the research of motion control method based on CPG and adaptive control strategy in complex terrain of crab-like robot.By building a prototype platform,we carry out the robot walking experiments and verify the feasibility and correctness of the theory.Combining with the purpose of the study,the overall scheme of hexapod crab-like robot is designed,including mechanical structure and control system,through bionics research of physiological structure and movement mechanism of the crab.Using the simplified structure of crab body,the 3-DOF walking leg based on the modular method are designed.Using the D-H method,we build the kinematic model of the walking leg and analyze the working space.For the control requirements of the crab-like robot,the hierarchical control system based on the PC104 is constructed and the hardware constitution of control system is introduced.Analyzing the motion control method of the multi-legged robot,the motion control theory based on the CPG of hexapod crab-like robot is studied.Through the simulation of biological neurons,the mathematical model of CPG oscillator is established,the limit cycles of the oscillator and the model parameters are analyzed.Use the rotation matrix to realize the coupling of the neural oscillators and the prediction of relative phase.The output form of mutual coupling oscillators is discussed.According to the motion control requirements of crab-like robot,the high-level adjustment mechanism is added,the CPG network model of robot is constructed and the influence of the network model parameters on the output form is analyzed.The wave gait generation based on CPG and control strategy in complex environments for crab-like robot are investigated.To realize the trajectory planning of walking leg,therelationship between CPG rhythm signal and the joint drive angle is constructed through neural network.By adjusting the area coefficient to achieve the generation and transformation of wave gait based on the CPG.Adding reflection mechanism to the control system,the robot adaptive control method based on trajectory library in complex terrain is studied.Finally,crab-like robot experimental study on the theory of adaptive gait generation is carried out.Including the wave gait generation and transformation based on CPG experiment and the adaptive walking experiment of robot in complicated environment.Through the adjustment of CPG network parameters to generate different wave gaits of robot.Use comparative experiments to verify the validity of robot adaptive control strategy in complex terrain.