Research On Smooth Gait Control And Turning Motion Of Trot For A Spinal Quadruped Robot

In recent years,more and more scholars begin to focus on the bionic spine’s important role in improving the robot motion performance,have developed the spine type of quadruped robot,the robot of the spine or active or passive,submissive or not smooth,all in improve the movement performance of each robot plays a positive role more or less.The purpose of this study is to design a quadruped robot with lick block.Specifically,the design of a quadruped robot with active spinal joints is designed to plan a more bionic gait or improve motor performance by taking advantage of the additional degree of freedom provided by the spinal joints for trunk movement.This paper mainly does the following research work.(1)model is the hound,analyzes the structure of spine and its simplified,established with single joint type yaw degrees of freedom of the spine quadruped robot,establish a quadruped robot one leg forward kinematics and inverse kinematics analysis,and drive side swing and hip joint joint Angle mapping relationship,according to the driving joints work scope and the foot end work space,Finally,the trajectory of foot swing phase and support phase is planned.(2)The CPG control network of the spinal quadruped robot was established.The cause of body tipping under trot gait was analyzed,and the method of improving body stability by adjusting the body centroid position through the yaw movement of the rear body was proposed.Then,the kinematics model of the coupled spinal deflection motion and the function mapping between the oscillator output and the whole circular Angle were established,and the deflection function of the spinal joint was derived.Finally,the improved trot gait joint simulation,the results proved that the body stability are improved greatly after centroid adjustment and improve the hind legs touch the ground ahead,spinal joints is studied through simulation experiment in the position of the fuselage on its smooth movement,and feedback control is introduced to increase the stability of the direction;Finally,the reasonable position of the spine joint in the fuselage is found based on the principle of reducing energy consumption.(3)By observing the dog turning in place,the sequence of the legs and the coordination of the movement with the spinal curve were summarized.The bionics principle was used to plan the gait of the spinal quadruped robot turning in place,and the value range of the gait Angle was established.The proposed gait is simulated and the simulation results prove the effectiveness of the proposed gait.The influence of the position of the spine joint in the fuselage and the steering gait parameters on its stability margin was studied.Then,the curve turning model of the spinal quadruped robot was established and the effect of the deflection Angle of the spine on the motion performance was studied.The effectiveness of the model was verified by simulation test.(4)The hierarchical control structure of quadruped robot is established,and the hardware circuits of "brain" controller and "cerebellum" controller are designed respectively.Then,the data acquisition system of quadruped robot is built.Finally,the software control program of robot is designed based on FreeRTOS system and Debian system.Finally,a prototype is built to test the trot gait and turn movement adjusted by the center of mass.The experimental results are basically consistent with the simulation results,which further demonstrates the effectiveness of the proposed movement.