The Control Method Of Complex Motion And Design Of Experimental Platform Of Quadruped Bionic Robot

For a long time,quadruped robots have attracted the attention of many scholars and researchers at home and abroad for their excellent stability and environmental adaptability.At present,quadruped robots have been able to move autonomously and stably in many complex unstructured environments.But their control methods are very complicated and the costs of softwares and hardwares are too high.In this paper,a practical feedbacks based CPG controller and motion control strategies in complex environment are proposed.The position curves of the robot's leg joints are adjusted by using the signals of foots touching the ground.Thereby the robot can achieve more accurate movement according to the terrain information.The main works of this paper are as follows:Firstly,the CPG controller based on the actual feedback is designed for the 8-DOF quadruped robot.The limit cycle and key parameters of the CPG network model are studied.The functions and regulation rules of the key parameters of the CPG network model are obtained.The motion control strategies based on the CPG controller of the robot in the complex environment are proposed.Secondly,the motions of the quadruped robot in the unstructured terrain such as slopes,potholes,steps and stairs are simulated.The simulation results are analyzed from the aspects of joint position control curves,joint torque and energy utilization efficiency.The validity of the motion control strategies based on CPG in the complex environment is verified.Thirdly,the control experimental platform scheme of the quadruped robot is proposed.The hardware and software of the control system are designed.The experimental platform of the quadruped robot with the functions of real-time servo control and data acquisition is built.Finally,the trot gait experiment and turning movement experiment of the robot are carried out,which verified the validity and reliability of the quadruped robot control system.