Locomotion Control Of Quadruped Robot With Active Spine For Bound Gait

The quadruped robot can adapt to the unfamiliar and rugged environment and has flexible movement characteristics.Therefore,it can perform many functions that are difficult to achieve with traditional wheeled robots.Because terrestrial mammals use four-legged movement as the most common way,the excellent performance and abundant research samples of quadruped robots have draw great attention.Mammals running at high speed usually have spinal links.The effect of the spine on the gait of the robot’s high-speed motion is the focus of research in recent years.However,most of the current research on quadruped robots with spine still remains at the theoretical level.How to effectively use the spine to achieve high-speed motion of quadruped robots is an urgent problem to be solved.This paper starts with a low-dimensional rigid torso robot,and analyzes its high-speed motion gait control method.Then the high-dimensional spine robot is studied,whose overall control strategy is carried out.Comparison and analysis of the two robots finds the role of the spine link.First,the gait of the quadruped animal is analyzed to make sure the timing of the gait of the robot’s high-speed motion.A simplified plane dynamic model of the rigid torso robot is established,and the distribution of the end force of the robot’s feet is designed.Poincare map solves the fixed point of the periodic motion of the robot.On these basis,the control strategy of the robot supporting phase and swing phase is established.Secondly,the gait of the spine of the robot is analyzed.Based on the rigid torso robot,a simplified plane dynamics model of the spine robot is established.The motion form of the spine is planned.And the fixed point of the periodic motion of the spine robot is solved by Poincaré mapping.On these basis,the robot spine and the overall control strategy are established.Finally,the simulation platform in the PyBullet was built.The speed control simulation was carried out on the rigid torso robot and the spine robot.The role of the spine in the movement of robot was verified through comparative analysis.The5m/s force control simulation was carried out on the rigid torso robot and the spine robot,to make the motion speed of the robot reach the desired value,and verify the feasibility of the robot control strategy.The Bound gait motion analysis for the two robots can provide a technical basis for the future research on high-speed gait of robots.