Design And Implementation Of Bionic Quadruped Robot Control System

With the rapid development of automatic control technology in the industrial field,different types of mobile industrial robots are gradually being used in various national defense application scenarios.The foot robot is gradually becoming the focus of research in the field of industrial robots due to its strong adaptability to complex geographical environment scenes.In the related technical research related to this field,the motion control technology of the quadruped robot is the key to realize its fast and stable movement.In this paper,combined with the needs of the national defense field,this paper focuses on the research of the motion control principle,control system design,motion control algorithm implementation and digital simulation of the bionic quadruped robot.First,a neural network mathematical model of a quadruped bionic robot based on a central pattern generator(CPG)is established.By analyzing the working principle of CPG and the physiological structure of the four-legged bionic robot,the mathematical description of the bionic four-legged robot under different walking gaits was established,which laid the foundation for the subsequent system modeling.Second,complete the electromechanical system design of the bionic quadruped robot.Design the robot's mechanical platform to select the motion parameters,and carry out the electrical system design work,complete the design and selection of the main control module,power supply module and servo drive module.Then,complete the motion control algorithm design based on HOPF.By designing the HOPF oscillator,the hip and knee joint signals are generated,and the hierarchical CPG algorithm is used to design the common gait of the bionic quadruped robot.Finally,a control mechanism based on vestibular reflex was established to realize the slope movement of the quadruped robot,and the system was simulated by Adams/Matlab.By analyzing the biological reflection mechanism,the vestibular reflection model is added to the original motion control algorithm to realize the adaptability of the quadruped robot to the slope motion.The system is modeled by a digital simulation platform,and the simulation results prove the correctness and effectiveness of the algorithm in this paper.